Journal of Shanghai Jiao Tong University ›› 2023, Vol. 57 ›› Issue (1): 93-102.doi: 10.16183/j.cnki.jsjtu.2021.223

Special Issue: 《上海交通大学学报》2023年“机械与动力工程”专题

• Mechanical Engineering • Previous Articles     Next Articles

Task Assignment and Path Planning for Automatic Guided Vehicles in Aircraft Assembly Workshop

QIU Kejun, BAO Zhongkai, CHEN Lu()   

  1. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
  • Received:2021-06-05 Revised:2021-08-03 Online:2023-01-28 Published:2023-01-13
  • Contact: CHEN Lu


To realize efficient scheduling of automatic guided vehicles (AGV) in the aircraft final assembly workshop, a two-stage method of AGV task allocation and path planning is proposed which effectively solves the problem of multi-trip distribution scheduling of AGV in the workshop. In the task allocation stage, an AGV task allocation model based on the trip is established to improve task allocation efficiency. In the path planning stage, the time window algorithm is used to initialize, update, and arrange the time window of the resources occupied by the AGV. Considering that the latest delivery time constraints may be violated due to obstacle avoidance and waiting, three adjustment strategies are designed to realize the conflict-free path planning of AGV, including the package exchanging strategy, the priority exchanging strategy, and the reserved conflict duration relaxation strategy. In numerical experiments, the average solving time of the two-stage method applied to problems with the scale of 50, 100, and 150 is 15.86, 41.12, and 162.29 s, which indicates that the two-stage method effectively alleviates the complexity of the multi-trip AGV scheduling problem. The two-stage method can realize the scheduling of the AGV in aircraft assembly workshop within a reasonable time and adapt to the rapid increase in the annual production of aircraft.

Key words: automatic guided vehicle (AGV), multi-trip, task allocation, path planning, time window algorithm

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