Research on Multi-AGVs Cooperative Transportation Strategy in Warehouse Logistics Environment Based on HCA Algorithm

摘要

With the development of science and technology in the logistics industry, logistics robots have become the choice of more and more enterprises, which can reduce costs and improve work efficiency. Compared with the application of single AGV (Automated Guided Vehicle) in logistics transportation, the multi-AGVs method is more widely used. The basic A-star algorithm can provide path planning for single AGV in the static road network. Furthermore, HCA (Hierarchical Cooperative A-Star Algorithms) introduces time quantity based on A-star to achieve path planning for multiple AGVs. This paper uses HCA algorithm and introduces Manhattan distance into grid map. Then, a multi-AGVs cooperative transportation strategy is proposed. The storage and transportation environment is simulated under the simulation environment of Webots. The multi-AGV cooperative transportation strategy proposed in this paper is verified and analyzed. Simulation results demonstrate the practicability of the navigation algorithm and the feasibility of the strategy.