Multi-AGV collision avoidance method based on load balancing

The invention discloses a multi-AGV collision avoidance method based on load balancing. The method is characterized in that: according to a workshop layout and path information, a turning point that changes a forward direction of an AGV is extracted, and an independent road section is divided by the turning point; the number of passage sections of the AGV is obtained through a recording point of the independent road section, map information near the road section is obtained through a map, a penalty function and a penalty coefficient are separately designed, and the global road section length is updated according to an obtained penalty term and the penalty coefficient; a scheduling system obtains sequential order in which tasks are executed by the AGV according to a task list, execution tasks of the AGV are selected according to an AGV state list, an ant colony algorithm is utilized, according to a starting point and an end point of the tasks, a route for executing the tasks by the AGVis planned, a conflict pr