AGV Scheduling Algorithm Based on Minimum Energy Consumption in Wind Turbine Lump Assembly Environment
The scheduling efficiency of AGV is the main factor affecting the efficiency of the wind turbine assembly system.When a task is given,it is necessary to schedule the AGV that can reach the starting point of the task the fastest to perform the new task among the AGV that have already completed the task.The shorter the time for the AGV to travel to the starting point of the task,the higher the efficiency of the final assembly system.Due to the special characteristics of the modern checkerboard assembly system,the AGV scheduling environment is more complex than before:there are a large number of obstacles(work points)in the assembly environment,and the results of different scheduling algorithms may be different under the same conditions.Three AGV scheduling algorithms are proposed,i.e.,scheduling algorithm based on k-NN,scheduling algorithm based on Manhattan distance,and scheduling algorithm based on Dijkstra's algorithm.The advantages and disadvantages of the three scheduling algorithms are firstly analysed,then the influence of whether the AGV is loaded or not on the performance of the above three scheduling algorithms is considered,and finally the feasibility of the three algorithms is compared by example verification.The results show that the AGV scheduling algorithm based on Dijkstra's algorithm is more suitable for the checkerboard general loading environment,and can achieve the minimum energy consumption in the scheduling process.
wind turbine assembly systemDijkstra algorithmAGVminimum energy consumptionscheduling algorithms
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