针对自动导引车(AGV)在仓储物流搬运系统中的路径冲突问题,提出了一种基于时间窗的改进两阶段动态路径规划方法.对原有两阶段路径规划方法进行改进,在离线情况下,将时间窗原理和Di-jkstra算法相结合,顺序规划出各个AGV的路径,采用改变AGV优先级的方法在线进行路径动态规划.通过仿真实验证明了改进后算法可以减少冲突的概率,有效地避免了AGV之间的碰撞,不仅具有很好的鲁棒性和柔性,而且可以提高系统效率.%In order to solve the problem of path collision of automatic guided vehicle(AGV) in warehousing logistics handing system,an improved two-stage dynamic path planning method based on time window is proposed.The original two-stage path planning method was improved,the Dijkstra algorithm and the time window principle were combined to sequentially plan the paths of each AGV in the offline case.The method of changing the AGV priority was used to dynamically plan the path online.The simulation results show that the improved algorithm can reduce the probability of collision,effectively avoid the collision between the AGVs.It not only has good robustness and flexibility,but also can improve the system efficiency.
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