The invention provides a distributed AGV system traffic control and scheduling method realized based on ROS2, and the method comprises the steps: building AGV vehicle nodes, building a traffic control module, developing a scheduling module, building a communication network, integrating a sensor data processing module, providing a central control board/man-machine interaction interface, and building a database/log module. According to the method, efficient data interaction and collaborative operation between AGVs are realized by using a distributed communication framework of ROS2, and by constructing a traffic control module and an optimized scheduling algorithm, the position and state of each AGV can be monitored in real time, the running path of each AGV can be dynamically adjusted, and traffic congestion and collision events are avoided. Compared with a traditional centralized control system, the system has the advantages that the expandability and fault-tolerant capability of the system are improved, the system is suitable for a complex and changeable industrial logistics environment, and the efficiency and reliability of logistics transportation are remarkably improved.

    本发明提供一种基于ROS2实现的分布式AGV系统的交通管制与调度方法,其包括建立AGV车辆节点、构建交通管制模块、开发调度模块、建立通信网络、集成传感器数据处理模块、提供中央控制台/人机交互接口以及建立数据库/日志模块,该方法利用ROS2的分布式通信框架,实现AGV之间的高效数据交互和协同作业,通过构建交通管制模块和优化的调度算法,能够实时监测各AGV的位置和状态,动态调整其运行路径,避免交通拥堵和碰撞事件的发生。相比传统的集中式控制系统,本发明提高了系统的可扩展性和容错能力,适用于复杂多变的工业物流环境,显著提升了物流运输的效率和可靠性。


    Access

    Download


    Export, share and cite



    Title :

    ROS2-based traffic control and scheduling method of distributed AGV system


    Additional title:

    一种基于ROS2实现的分布式AGV系统的交通管制与调度方法


    Contributors:
    LI PENGCHENG (author) / ZAN XUEYAN (author) / TANG LONG (author) / LIU DAN (author) / QIU KAI (author) / CAI JICHAO (author) / JIANG GANSHENG (author) / XU BO (author)

    Publication date :

    2025-01-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze



    ROS2 for beginners

    Renard, Edouard / Manning (Firm), | TIBKAT | 2022


    ROS2-Based Autonomous System for Precision Monitoring in Unstructured Crop Arrangement

    Suresh, Vignesh / Arunkumar, Srinidhi / S, Shoba | IEEE | 2025


    ROS2-Gazebo Simulator for Drone Applications

    Haridevan, Amal Dev / Kang, Junjie / Yuan, Mingfeng et al. | IEEE | 2024


    Decentralized Multi-UAV Cooperative Search Based on ROS1 and ROS2

    Xu, Guoliang / Yang, Zhiqun / Lu, Wei et al. | British Library Conference Proceedings | 2022