AGV系统路径规划时间窗模型及算法

doi:10.16088/j.issn.1001-6600.2019.03.001

《广西师范大学学报》（哲学社会科学版） ›› 2019, Vol. 37 ›› Issue (3): 1-8.doi: 10.16088/j.issn.1001-6600.2019.03.001

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AGV系统路径规划时间窗模型及算法

许伦辉^1,2*,黄宝山¹,钟海兴²

1.北京理工大学珠海学院工业自动化学院,广东珠海519088;
2.华南理工大学土木与交通学院,广东广州510641

发布日期:2019-07-12
通讯作者: 许伦辉(1965—),男,江西南康人,华南理工大学教授,博导。E-mail:lhxu@scut.edu.cn
基金资助:
国家自然科学基金(61263024);广东省自然科学基金(2015A030313797);珠海市重大科技项目(20160308)

Time Window Model and Algorithm with AGV System Path Planning

XU Lunhui^1,2*,HUANG Baoshan¹,ZHONG Haixing²

1. Institute of Industrial Automation, Zhuhai Campus, Beijing Institute of Technology,Zhuhai Guangdong 519088,China;
2. School of Civil and Traffic Engineering, South China University of Technology,Guangzhou Guangdong 510641,China

Published:2019-07-12

摘要/Abstract

摘要： 针对双向单车道的AGV(automated guided vehicle)系统作业场景,考虑到AGV车辆行驶过程中直线和弯道的速度差异,以最小运行代价和优先级相结合为任务生成策略,构建了避免冲突的AGV系统动态路径规划的时间窗模型及其算法流程,为运行总成本最小约束下智能物流和自动化仓储系统中多台AGV协同作业的动态路径规划问题提供了有效方法。经过案例验证,该算法能够有效规划系统中多台AGV协同作业的路径,使系统运行的成本最低,降低仓储系统运行的总成本。

关键词: 动态路径规划, 智能物流, 时间窗, 自动搬运, AGV

Abstract: Considering the AGV vehicle speed difference between straight lines and curves in the process of driving,the time window model of the dynamic route planning of AGV system is established to avoid conflict for the two-way single driving lane AGV system operation scene. Taking the combination with the minimum operation cost and priority as the task generation strategy,the algorithm process for the AGV system dynamic path planning time window model is established, which provides an effective method for dynamic path planning problem for multi-AGV system collaborative operation in intelligent logistics and automated storage system under the restriction to minimize the total cost of operation. Case verification shows that this algorithm can effectively plan the path of multiple AGV cooperative operations in the system,so that the system can run at the lowest total cost and reduce the total cost of running the storage system.

Key words: dynamic route planning, intelligent logistics, time window, automatic handing, automated guided vehicle(AGV)

中图分类号:

TP301.6

许伦辉,黄宝山,钟海兴. AGV系统路径规划时间窗模型及算法[J]. 《广西师范大学学报》（哲学社会科学版）, 2019, 37(3): 1-8.

XU Lunhui,HUANG Baoshan,ZHONG Haixing. Time Window Model and Algorithm with AGV System Path Planning[J]. Journal of Guangxi Teachers Education University (Philosophy and Social Sciences Edition), 2019, 37(3): 1-8.

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AGV系统路径规划时间窗模型及算法

Time Window Model and Algorithm with AGV System Path Planning

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