Add a multi-worker capability to autovacuum. This allows multiple worker

Add a multi-worker capability to autovacuum.  This allows multiple worker
processes to be running simultaneously.  Also, now autovacuum processes do not
count towards the max_connections limit; they are counted separately from
regular processes, and are limited by the new GUC variable
autovacuum_max_workers.

The launcher now has intelligence to launch workers on each database every
autovacuum_naptime seconds, limited only on the max amount of worker slots
available.

Also, the global worker I/O utilization is limited by the vacuum cost-based
delay feature.  Workers are "balanced" so that the total I/O consumption does
not exceed the established limit.  This part of the patch was contributed by
ITAGAKI Takahiro.

Per discussion.