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中文摘要：
为降低多AGV系统调度过程的复杂性，提出了一种混合区域控制模型，在模型中采用基于任务等待时间最短原则的SwT调度策略，优化了系统效率和整体运行时间；并提出一种分布式协调控制机制，解决了多AGV在线运行的冲突和死锁问题。最后，搭建了多AGV系统调度的硬件仿真平台，结合具体的加工实例进行了仿真实验，实验结果证明了模型的有效性和可行性。
英文摘要：
Aiming at reducing the inherent complexity of the multi AGV problem, we present a new guide path configuration of mixed regional control module. Proposing a scheme based on the shortest waiting time for the task, we achieve the optimization of the efficiency and running time in our system. We solve the conflict and deadlock problem between AGVs online with a distributed coordination control approach. Finally we build an experimental simulation platform and results indicate the validity and feasibility of the proposed module.
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