Automated guided vehicles are widely used in various applications, especially in manufacturing. In this paper, we present a novel parallel algorithm for multi-AGV systems. The overall structure is composed of three parts: task assignment, path planning, and vehicle navigation. According to the priorities of AGVs, a greedy method is introduced to assign jobs. For path planning, a mixed-integer programming model of a multi-AGV system is formulated, which can be transformed into a series of sub-problems under certain conditions. Then, an improved routing method with a penalty item is adopted to generate the optimal paths of AGVs. To avoid collisions between vehicles, a simple and effective control method based on resource locking is proposed under the premise of parallelization. Furthermore, we design the experiments according to the warehousing systems. Various practical simulations are performed to illustrate the efficiency and robustness of the new algorithm.

自动导引车广泛用于各种应用，尤其是制造业。在本文中，我们提出了一种用于多 AGV 系统的新型并行算法。整体结构由任务分配、路径规划和车辆导航三部分组成。根据AGV的优先级，引入贪心法进行作业分配。对于路径规划，制定了多AGV系统的混合整数规划模型，在一定条件下可以将其转化为一系列子问题。然后，采用带惩罚项的改进路由方法生成AGV的最优路径。为了避免车辆之间的碰撞，在并行化的前提下，提出了一种基于资源锁定的简单有效的控制方法。此外，我们根据仓储系统设计实验。执行各种实际模拟来说明新算法的效率和鲁棒性。