Real-Time Conflict-Free Task Assignment and Path Planning of Multi-AGV System in Intelligent Warehousing

Abstract

With the continuous development of intelligent robot, the application of Automated Guided Vehicles (AGV) increasingly becomes popular in many industrial fields. However, there are a series of problems in Multi-AGV System, such as resource allocation, conflict and deadlock. It is hard to find a perfect path for each AGV without conflict and collision in Multi-AGV System. In this paper, a Multi-AGV task assignment system is established by using the time window method and we find the optimal path by the A* algorithm. In addition, the system is realized by programming and a simulation experiment. The simulation results show that the system can effectively solve the conflict problem of AGVs, and is stable and high real-time.