物流中心多AGV无碰撞路径规划  

Collision-Free Path Planning for Multiple AGVs in Logistics Center

作　　者：杨洁[1] 田钊 刘国宁[1] YANGJie;TIAN Zhao;LIU Guo-ning(School of Mechanical Engineering,Zhengzhou University,He'nan Zhengzhou 450001,China;School of Software Technology,Zhengzhou University,He'nan Zhengzhou 450002,China)

机构地区：[1]郑州大学机械与动力工程学院,河南郑州450001 [2]郑州大学软件学院,河南郑州450002

出　　处：《机械设计与制造》2022年第8期271-277,281,共8页Machinery Design & Manufacture

基　　金：国家重点研发计划项目(2018YFB1201403);赛尔网络下一代互联网技术创新项目(NGII20180702)。

摘　　要：为了提高物流分拣中心的效率,这里基于遗传算法提出了两种和时间推理相结合的多AGV(自动导引车)路径规划模型,研究了派车方法,多AGV之间的协调性(派车)和解决多AGV的路径规划问题。研究采用拓扑建模法对仓储物流中心分拣库区进行数学建模,然后分别使用两种模型完成了对分拣库区多AGV的无碰撞路径规划。两种模型的区别主要在于冲突解决方式不同:模型一在解决冲突时优先级低的AGV在发生冲突的顶点附近进行等待,而模型二则要求优先级低的AGV在发生冲突顶点的前一顶点进行等待。另外,基于这里提出的编码方法和遗传算法的实验仿真表明,采用两种模型都可使所有AGV顺利地完成任务,但高效不同。In order to improve efficiency in the logistic center,two routing models based on time reasoning methods are proposed to study the coordination among multiple AGVs(automated guided vehicle),the distribution of AGVs for multi-tasks,and the path planning for various situations based on genetic algorithm.In this paper,mathematical model is built for the logistic center using topological modelling methodology and then conflict-free path planning is made for both models.The difference of the two models is:for model one AGV with lower priority has to wait near the conflicting vertex while AGV with lower priority has to wait at the previous vertex to avoid conflicting for model two.In addition,the numerical simulations are carried out based on genetic algorithm and coding methods proposed in the paper.The results show that conflict-free path planning can be realized for both models though the corresponding efficiency is different.

关 键 词：多AGV 遗传算法 时间推理 路径规划 无碰撞 

分 类 号：TH16[机械工程—机械制造及自动化] U695.22[交通运输工程—港口、海岸及近海工程]