Multi-AGV motion planning method, device and system

US12045061B2 · kind B2 · utility

Assignee

• GOERTEK INC. · CN

Inventors

• Xueqiang Wang · Shandong, CN
• Yifan Zhang · Woodbury, US
• Libing Zou · Shandong, CN
• Fuqiang Zhang · Beijing, CN

Key dates

• Filing date: Sep 10, 2020
• Grant date: Jul 23, 2024
• Expiry date: Feb 8, 2042

Classification

• Technology area (CPC G): Physics
• CPC primary: G06N7/01
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A multi-AGV motion planning method, device and system are disclosed. The method of the present disclosure comprises: establishing an object model through reinforcement learning; building a neural network model based on the object model, performing environment settings including AGV group deployment, and using the object model of the AGV in a set environment to train the neural network model until a stable neural network model is obtained; setting an action constraint rule; and after the motion planning is started, inputting the state of current AGV, states of other AGVs and permitted actions in a current environment into the neural network model after trained, obtaining the evaluation indexes of a motion planning result output by the neural network model, obtaining an action to be executed of the current AGV according to the evaluation indexes, and performing validity judgment on the action to be executed using the action constraint rule.