关键词: 负载均衡, A*算法, 多AGV, 路径规划, 拥堵防止

Abstract:

In this paper, the local congestion prevention and load balancing problems of multi-AGV running road networks in large-scale application scenarios are proposed. The path planning method using A* algorithm with improved load balancing is proposed. When calculating the operating cost of the AGV, the traditional A* algorithm is considered to consider only the evaluation function of a single running distance, and the way of running distance combined with the regional load as a new evaluation function is introduced. The area load balancing of the AGV running road network is realized under the premise of not increasing the running distance. The one-way multi-input and multi-out and two-way multi-input and multi-outlet network models are used for simulation verification. The road network scale and load factor are changed for multiple simulation experiments. The results show that the improved algorithm can effectively balance the road network load and greatly improve the AGV overall operating efficiency of the system.

Key words: load balancing, A* algorithm, multiple AGV, path planning, congestion prevention