关键词: 智能制造, 自动导引小车, 任务调度, 路径规划, 碰撞避免

Abstract: Under the background of the rapid growth of semiconductor production demand and intelligent manufacturing,the path planning and scheduling problem of Automated Guided Vehicles (AGVs) was studied in the semi-conductor workshop with the consideration of collision avoidance.On this basis,a two-stage algorithm was proposed.An exact solution based on mathematical model and a task assignment algorithm based on task urgency were used to obtain the tasks carrying sequence of semiconductors transferred by AGVs.Then,the initial path was generated according to the walking rules of AGVs and the tasks carrying sequence.A collision detection and avoidance algorithm was further designed to obtain the global AGV conflict-free path planning.A sensitivity analysis for AGV number was done to suggest the optimal number of AGVs in semiconductor intelligent workshop.The experimental results showed that the proposed algorithm could solve the handling of 480 tasks on 4 shelves and between 4 machines.The algorithm was within reasonable time and showed good practicability,which could provide theoretical basis and practical reference for realizing multi-AGVs collaborative scheduling of AGV material handling system in intelligent semiconductor workshop.

Key words: intelligent manufacturing, automated guided vehicle, task scheduling, path planning, collision avoidance