考虑软时间窗约束的多车型AGV路径优化  

Multi-Vehicle AGV Path Optimization Considering Soft Time Window Constraints

作　　者：郑晓军[1] 高佳 宁诗铎 ZHENG Xiao-jun;GAO Jia;NING Shi-duo(School of Mechanical Engineering,Dalian Jiaotong University,Dalian 116000,China)

机构地区：[1]大连交通大学机械工程学院,大连116000

出　　处：《组合机床与自动化加工技术》2022年第5期15-18,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：辽宁省教育厅基金(JDL2019016);辽宁省自然科学基金(019-ZD-0115)。

摘　　要：由于AGV的车型分配与路径规划影响着柔性制造车间的生产效率与经济效益,同时考虑到AGV在运行过程中的转弯行为会使总配送时间延长,并造成额外的能源消耗。因此以工厂柔性制造车间为对象,首先将AGV总能耗最小和软时间窗惩罚成本最小等作为组合优化目标;其次结合AGV工作过程中直行与转弯两种运动模式下的能耗分析,建立以软时间窗为约束的多车型AGV优化配送模型;最后使用遗传算法对其求解。通过实验结果表明:采用多车型AGV配送与单一轻载配送相比,总成本降低了10%;与单一重载配送相比,总成本降低近21.1%,转弯成本减少21.3%。总之,多车型配送方案能够在保证柔性车间运转效率的同时达到优良的节能效果。Since the vehicle model distribution and route planning of AGV affect the production efficiency and economic benefits of the flexible manufacturing workshop.At the same time,considering that the turning behavior of the AGV during operation will extend the total delivery time and cause additional energy consumption.Therefore,taking the flexible manufacturing workshop of the factory as the object,firstly,the minimum total energy consumption of the AGV and the minimum penalty cost of the soft time window are the combined optimization goals;secondly,combined with the energy consumption analysis of the two motion modes of the straight and turning during the working process of the AGV,the establishment of The soft time window is a constrained multi-vehicle AGV optimal distribution model;finally,the genetic algorithm is used to solve it.The experimental results show that the total cost of the multi-model AGV distribution is reduced by 10%compared with the single light-load distribution;compared with the single heavy-load distribution,the total cost is reduced by nearly 21.1%,and the turning cost is reduced by 21.3%.In summary,the multi-vehicle distribution solution can achieve excellent energy-saving effects while ensuring the operating efficiency of the flexible workshop.

关 键 词：AGV 节能 路径规划 任务调度 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]