自动化码头多AGV路径冲突的优化控制研究  

Optimal Control of Multiple AGV Path Conflict in Automated Terminals

作　　者：张素云[1] 杨勇生[1] 梁承姬[1] 许波桅[1] 李军军[2] ZHANG Su-yun a YANG Yong-sheng a LIANG Cheng-ji a XU Bo-wei a LI Jun-jun b(a. Institute of Logistics Science ＆ Engineerin b. Merchant Marine College, Shanghai Maritime University, Shanghai 201306, China)

机构地区：[1]上海海事大学物流科学与工程研究院,上海201306 [2]上海海事大学商船学院,上海201306

出　　处：《交通运输系统工程与信息》2017年第2期83-89,共7页Journal of Transportation Systems Engineering and Information Technology

基　　金：国家自然科学基金(61540045;71471110);上海市科委创新项目(14170501500;14D2280200;16DZ1201402);教育部人文社科项目(15YJC630145;15YJC630059);上海市自然科学基金项目(15ZR1420200);上海海事大学研究生创新项目(2016ycx054)~~

摘　　要：针对自动引导车(AGV)在自动化码头水平运输过程中可能发生的路径冲突问题,提出一种将AGV路径容量、安全距离、行驶时间及行驶速度相结合的多参数优化控制模型.Dijkstra算法规划多条AGV路径,位向量交集运算法检测路径冲突,改进的速度控制策略通过控制AGV在冲突节点处的行驶速度,解决冲突问题.对某自动化码头的AGV路网进行仿真实验和分析.比较停车策略、速度控制策略和改进的速度控制策略的结果,验证了改进速度控制策略在AGV路径冲突问题中的可行性及有效性.To solve the path conflicts for an Automatic Guided Vehicle（AGV） that may occur in the horizontal transportation of automated container terminal,a control strategy is proposed with multiparameter include path capacity,safety distance,travel time and vehicle speed.Dijkstra algorithm is used to plan path.A bit vector intersection algorithm is used to detect collisions.The improved speed control strategy is proposed to solve the path conflicts by controlling the traveling speed of the AGV at the conflict nodes.By simulating and analyzing the AGV network of Yangshan fourth automated container terminal,compare the traditional stop waiting strategy,the speed control strategy and the improved speed control strategy.The results verify the feasibility and effectiveness of the improved speed control strategy in conflict solving.

关 键 词：智能交通 路径冲突 冲突检测 速度控制 自动引导车 自动化码头 

分 类 号：U169.74[交通运输工程]