基于改进速度调节法的AGV群调度决策  

Research on AGV Group Scheduling Decision of Port Containers Based on Time Window

作　　者：杨瑞刚[1] 耿明伟 郝成林 罗雷雷 张璐 YANG Ruigang;GENG Mingwei;HAO Chenglin;LUO Leilei;ZHANG Lu(School of Machinery Engineering,Taiyuan University of Science&Technology,Taiyuan 030024,China)

机构地区：[1]太原科技大学机械工程学院,太原030024

出　　处：《机械设计与研究》2023年第4期173-177,共5页Machine Design And Research

摘　　要：针对传统的速度调节法调节路径冲突时,会存在小车减速至停车从而引发新的冲突的问题,提出了一种基于改进后的速度调节法的冲突调节方法,并结合两阶段控制策略,对AGV群调度决策优化。首先,在离线阶段利用带适度函数的布谷鸟算法寻找单个AGV的最优路径;其次,通过时间窗检测多AGV运行中可能存在的路径冲突;最后,在线调控阶段,利用改进后的速度调节法解决路径冲突并重新规划路径。经过多次实验后证明了新的调度策略确实可以成功的完成多AGV的调度作业,并对其进行冲突调节,大大提高了整个调度的运行效率,具有很高的实用性。A conflict regulation method based on the improved speed regulation method is proposed.Combined with the two-stage control strategy,the ACV group scheduling decision is optimized.Firstly,in the off-line phase,cuckoo algorithm with the moderate function is used to find the optimal path of a single AGV.Secondly,the path conflicts that may exist in multi-AGV operation are detected through the time window.Finally,in the online regulation stage,the improved speed regulation method is used to solve the path conflict and re-plan the path.After many experiments,it is proved that the new scheduling strategy can successfully complete the scheduling of multiple AGVs and adjust the conflicts,which significantly improves the operation efficiency of the entire scheduling and has high practicability.

关 键 词：路径规划 时间窗 布谷鸟算法 冲突节点 两阶段控制法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]