Multi-AGV real-time scheduling algorithm based on unidirectional track

The invention relates to a multi-AGV real-time scheduling algorithm based on a unidirectional track. The multi-AGV real-time scheduling algorithm comprises the steps of performing mathematical modeling on a multi-AGV operation environment by means of a graph theory; respectively initializing an AGV trolley list, a map and a station list; performing traversal of each AGV; determining whether an AGVtask queue is empty, distributing to a vehicle which is represented by an AGV task queue head node according to a determining result, and updating the idle queue; acquiring a task queue head element,finding a corresponding station list ListK according to a station value; finally, determining whether the stations which correspond with the head element and a second element are in an idle state; determining whether to execute the scheduling task according to a result, using and locking the stations which correspond with the head element and the second element in the idle state, scheduling the corresponding station, and