基于遺傳算法的C煙廠AGV路徑規(guī)劃研究
發(fā)布時間：2018-07-31 18:04
【摘要】：隨著國內(nèi)經(jīng)濟(jì)的迅速增長,企業(yè)規(guī)模不斷擴(kuò)大,生產(chǎn)效率的不斷提高,土地資源短缺的限制,物流自動化已成為國內(nèi)眾多企業(yè)關(guān)注的熱點(diǎn)。AGV作為現(xiàn)代物流系統(tǒng)中重點(diǎn)的組織成部分,其應(yīng)用也越來越廣泛,AGV比較貴重,如果使用不合理,會造成嚴(yán)重的浪費(fèi),AGV的路徑問題一直是研究的重點(diǎn)。本文以AGV小車為研究對象,對其進(jìn)行路徑規(guī)劃,以提高其運(yùn)行使用效率。論文首先提出了研究背景及意義,概述了AGV路徑規(guī)劃國內(nèi)外研究發(fā)展現(xiàn)狀,并對相關(guān)理論進(jìn)行了闡述,對AGV路徑規(guī)劃算法進(jìn)行了研究分析,通過對各種算法的優(yōu)缺點(diǎn)簡單對比,最終選擇遺傳算法作為AGV路徑規(guī)劃的求解算法。其次,以單AGV為研究對象,在運(yùn)行環(huán)境條件已知的情況下,以最短路為目標(biāo)建立數(shù)學(xué)模型,運(yùn)用遺傳算法對AGV進(jìn)行路徑規(guī)劃,并借助MATLAB編程進(jìn)行仿真,通過仿真結(jié)果對算法的可行性進(jìn)行了分析。再次,在單AGV路徑規(guī)劃研究的基礎(chǔ)上,用停車等待或避開占用路徑尋找次短路的方法,對多AGV進(jìn)行路徑規(guī)劃研究,為多臺AGV規(guī)劃出無碰撞、協(xié)調(diào)的路徑。還對AGV小車的任務(wù)分配、車輛管理進(jìn)行約束,制定了優(yōu)先級的標(biāo)準(zhǔn),并參照交通規(guī)則法制定適當(dāng)約束AGV小車的交通規(guī)則法,對利用規(guī)則無法規(guī)避的沖突問題,提出了解決問題的策略,從而保證多AGV能在系統(tǒng)中協(xié)調(diào)運(yùn)行。最后,對C煙廠輔料庫的現(xiàn)狀進(jìn)行分析,將路徑規(guī)劃方法與實(shí)際相結(jié)合,通過產(chǎn)能及需求分析計(jì)算出所需要AGV小車的臺數(shù),并按照前面設(shè)計(jì)的規(guī)劃方法及算法對多AGV進(jìn)行路徑規(guī)劃,并以某一時刻為例,為系統(tǒng)內(nèi)每臺小車選擇路徑,以分析各AGV小車在運(yùn)行過程中可能出現(xiàn)的碰撞問題,如何利用已制定的規(guī)劃策略規(guī)則對碰撞問題進(jìn)行檢測,如何規(guī)避碰撞問題,從而實(shí)現(xiàn)多AGV的路徑規(guī)劃。通過本文對AGV路徑規(guī)劃的研究思路,尤其是對遺傳算法及MATLAB軟件的應(yīng)用,并結(jié)合實(shí)例將設(shè)計(jì)的規(guī)劃方法應(yīng)用于實(shí)際,為C煙廠輔料庫輸送系統(tǒng)中AGV的路徑規(guī)劃提供了一種可行性的方法,對移動機(jī)器人的路徑規(guī)劃具有較好的實(shí)用參考價(jià)值。
[Abstract]:With the rapid growth of domestic economy, the scale of enterprises is expanding, the efficiency of production has been improved, and the shortage of land resources has been restricted. Logistics automation has become the focus of attention of many domestic enterprises. AGV, as a key organization in modern logistics system, is becoming more and more widely used, and its application is more and more valuable. If it is not reasonable to use, The path problem which will cause serious waste of AGV is always the focus of research. In this paper, AGV trolley is taken as the research object, and its path planning is carried out to improve its running efficiency. Firstly, the paper puts forward the research background and significance, summarizes the current research and development of AGV path planning at home and abroad, and expounds the relevant theories, and analyzes the algorithm of AGV path planning, and simply compares the advantages and disadvantages of various algorithms. Finally, genetic algorithm is chosen as the solution algorithm of AGV path planning. Secondly, taking the single AGV as the research object, taking the shortest path as the target, the mathematical model is established under the condition of known running environment, and the path planning of AGV is carried out by using genetic algorithm, and the simulation is carried out by MATLAB programming. The feasibility of the algorithm is analyzed by simulation results. Thirdly, on the basis of the research of single AGV path planning, using the method of parking waiting or avoiding the occupation path to find the secondary short circuit, the path planning of multiple AGV is carried out, and the collision-free and coordinated path is planned for multiple AGV. In addition, the task assignment and vehicle management of AGV vehicle are restricted, and the priority criterion is established. According to the traffic rules method, the traffic rules that restrict the AGV car are formulated, and the conflicts that can not be avoided by using the rules are solved. A solution to the problem is proposed to ensure the coordinated operation of multiple AGV in the system. Finally, the status quo of C cigarette factory auxiliary material storehouse is analyzed, the path planning method is combined with practice, and the number of AGV vehicles needed is calculated by capacity and demand analysis. According to the planning method and algorithm designed before, the path planning of multiple AGV is carried out, and taking a certain time as an example, the path is selected for each vehicle in the system, in order to analyze the collision problem that may occur in the running process of each AGV car. How to detect the collision problem by using the planning policy rules, how to avoid the collision problem, and how to realize the path planning of multiple AGV. Through the research of AGV path planning, especially the application of genetic algorithm and MATLAB software, the design method is applied to practice. It provides a feasible method for the path planning of AGV in the transportation system of auxiliary material storehouse in C cigarette factory, and has a good practical reference value for the path planning of mobile robot.
【學(xué)位授予單位】：昆明理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TP18
本文編號：2156397
[Abstract]:With the rapid growth of domestic economy, the scale of enterprises is expanding, the efficiency of production has been improved, and the shortage of land resources has been restricted. Logistics automation has become the focus of attention of many domestic enterprises. AGV, as a key organization in modern logistics system, is becoming more and more widely used, and its application is more and more valuable. If it is not reasonable to use, The path problem which will cause serious waste of AGV is always the focus of research. In this paper, AGV trolley is taken as the research object, and its path planning is carried out to improve its running efficiency. Firstly, the paper puts forward the research background and significance, summarizes the current research and development of AGV path planning at home and abroad, and expounds the relevant theories, and analyzes the algorithm of AGV path planning, and simply compares the advantages and disadvantages of various algorithms. Finally, genetic algorithm is chosen as the solution algorithm of AGV path planning. Secondly, taking the single AGV as the research object, taking the shortest path as the target, the mathematical model is established under the condition of known running environment, and the path planning of AGV is carried out by using genetic algorithm, and the simulation is carried out by MATLAB programming. The feasibility of the algorithm is analyzed by simulation results. Thirdly, on the basis of the research of single AGV path planning, using the method of parking waiting or avoiding the occupation path to find the secondary short circuit, the path planning of multiple AGV is carried out, and the collision-free and coordinated path is planned for multiple AGV. In addition, the task assignment and vehicle management of AGV vehicle are restricted, and the priority criterion is established. According to the traffic rules method, the traffic rules that restrict the AGV car are formulated, and the conflicts that can not be avoided by using the rules are solved. A solution to the problem is proposed to ensure the coordinated operation of multiple AGV in the system. Finally, the status quo of C cigarette factory auxiliary material storehouse is analyzed, the path planning method is combined with practice, and the number of AGV vehicles needed is calculated by capacity and demand analysis. According to the planning method and algorithm designed before, the path planning of multiple AGV is carried out, and taking a certain time as an example, the path is selected for each vehicle in the system, in order to analyze the collision problem that may occur in the running process of each AGV car. How to detect the collision problem by using the planning policy rules, how to avoid the collision problem, and how to realize the path planning of multiple AGV. Through the research of AGV path planning, especially the application of genetic algorithm and MATLAB software, the design method is applied to practice. It provides a feasible method for the path planning of AGV in the transportation system of auxiliary material storehouse in C cigarette factory, and has a good practical reference value for the path planning of mobile robot.
【學(xué)位授予單位】：昆明理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TP18
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