基于离散型鲸鱼优化算法的AGV与机器集成调度方法  

AGV and machine integrated scheduling method based on discrete whale optimization algorithm

作　　者：邹裕吉 宋豫川[1] 王毅[1] 王馨坤 ZOU Yuji;SONG Yuchuan;WANG Yi;WANG Xinkun(State Key Laboratory of Mechanical Transmissions,Chongqing University,Chongqing 400044,P.R.China)

机构地区：[1]重庆大学机械传动国家重点实验室,重庆400044

出　　处：《重庆大学学报》2022年第6期55-74,共20页Journal of Chongqing University

基　　金：国家自然科学基金资助项目(51205429);重庆市科技局重庆市技术创新与应用示范专项项目(cstc2018jszx-cyzdX0150)。

摘　　要：针对制造系统中考虑路径冲突的AGV(automated guided vehicles)与机器集成调度问题,提出一种基于时间窗和Dijkstra算法的离散型鲸鱼优化算法。首先,以最小化最大完工时间为目标,建立AGV与机器集成调度的数学模型,并采用一种三段式编码实现AGV和机器的集成编码,建立连续空间与离散空间之间的映射关系;然后,为了保证初始种群的质量和多样性,设计一种结合混沌映射和对立学习的扩展型GLR(global,local,random)种群初始化方法;运用Levy飞行算子和阈值重启操作进一步提高算法的全局搜索能力;最后,为了提高算法的局部搜索能力,引入结合问题特点的变邻域搜索算法。标准算例仿真实验和柔性仿真实验证明了该算法解决AGV和机器集成调度问题的可行性和优越性。In order to address the integrated scheduling problem of AGVs(automated guided vehicles)and machines with considering path conlict in manufacturing system,an improved discrete whale optimization algorithm based on time window and Dijkstra algorithm was proposed.First,with the goal of minimizing the maximum completion time,a mathematical model of AGV-and-machine integrated scheduling was established.Then,a three-stage coding was used to realize the integrated coding of AGVs and machine,and a continuous space and discrete space were established.Second,in order to ensure the quality and diversity of the initial population,an extended GLR population initialization method combining chaotic mapping and opposition learning was designed.Then,the Levy flight operator and threshold restart operation were used to further improve the algorithm’s global search capability.Finally,in order to improve the local search ability of the algorithm,a variable neighborhood search algorithm combined with the features of the problem was introduced.Standard simulation experiments and flexible simulation experiments have proved the feasibility and superiority of the proposed algorithm to solve the problem of AGV-and-machine integrated scheduling.

关 键 词：AGV与机器集成调度 鲸鱼优化算法 Levy步长 变邻域搜索 Dijkstra算法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TH187[自动化与计算机技术—控制科学与工程]