时间窗约束下的AGV动态路径规划  

Dynamic Routing of Automated Guided Vehicles with Time Window

作　　者：张峥炜 陈波 陈卫东[2] 

机构地区：[1]上海振华重工电气有限公司,上海200125 [2]上海交通大学自动化系,上海200240

出　　处：《微型电脑应用》2016年第11期46-49,共4页Microcomputer Applications

摘　　要：针对自动化码头的多自动导引车系统(Automated Guided Vehicle,AGV)的路径规划问题,提出了一种基于时间窗的改进Dijkstra动态路径规划算法。算法按照任务优先级和地图中的先验信息顺序规划各AGV的行驶路径,在已规划路径的基础上,通过更新地图中的时间窗信息,继续规划后续路径,实现各AGV的无冲突且行驶时间最短的动态路径规划。结合实例及对比实验表明该算法能够有效减少多AGV之间的路径冲突,降低AGV的路径行驶时间,提高自动化码头运行效率。To solve the routing problem for the multiple Automated Guided Vehicles （AGV） in automated container terminals, an improved Dijkstra dynamic routing algorithm based on time window is proposed. Every AGV route is scheduled in order according to the priorities of the tasks and prior information of the map. Based on the planned routes, conflict-free, shortest-time and dynamic routing are achieved by updating the time window information for the planned routes. In comparison with the traditional method, the proposed algorithm can effectively decrease the conflicts between AGV routes and reduce their travel time, thereby the operating efficiency of the terminal can be enhanced.

关 键 词：自动导引车 时间窗 动态路径规划 DIJKSTRA算法 自动化码头 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]