机器人室内自主载人自适应性匈牙利派单算法  

Robot Indoor Autonomous Manned Adaptive Hungarian Dispatch Algorithm

作　　者：高庆吉[1] 粟鹏 佘亮亮 邢志伟 GAO Qingji;SU Peng;SHE Liangliang;XING Zhiwei(Institute of Robotics,Civil Aviation University of China,Tianjin 300300,China)

机构地区：[1]中国民航大学中国民航大学机器人研究所,天津300300

出　　处：《计算机测量与控制》2023年第10期200-207,共8页Computer Measurement &Control

基　　金：国家自然科学基金(u1533203)。

摘　　要：以航站楼等大型公共室内环境中机器人运送旅客为背景,研究多自主载人机器人的派单优化问题;借鉴了网约车的派单思想,针对航站楼隔离区环境内的搭乘需求,研究了自适应性匈牙利派单算法;基于航站楼二分图派单匹配模型,计算载人机器人的派单调度矩阵;该派单调度矩阵考虑了旅客密度时空分布、旅客等待时间和机器人能耗为参考,将路径-时间-能量作为目标变量,以计算各接载任务起讫(OD)矩阵元素值,同时为挖掘全域派单的可能性,结合供需预测关系将快到达目标点的载人机器人加入可派单队列;通过构建航站楼实际离港业务的三维仿真模型,进行了全天时派单模拟实验;结果表明,所研究的派单算法对多目标约束派单求解有较好的优越性和适应性,以达到全域最优派单分配的目的,为高效完成接载任务提供决策支持。Based on the background of robots transporting passengers in large public indoor environments such as terminals,the dispatch optimization problem of multi-autonomous manned robots is studied.Based on the idea of dispatching the network car,the adaptive Hungarian dispatching algorithm is studied for the ride demand in the terminal isolation area.Based on the terminal bipartite graph dispatch matching model,the dispatch scheduling matrix of manned robot is calculated.The dispatching matrix takes into account the spatial and temporal distribution of passenger density,passenger waiting time and robot energy consumption as reference,and takes path-time-energy as the target variable to calculate the starting and ending(OD)matrix element value of each loading task.At the same time,in order to explore the possibility of global dispatching,the manned robot that quickly reaches the target point is added to the dispatching queue in combination with the supply and demand prediction relationship.By constructing a three-dimensional simulation model of the actual departure business of the terminal,an all-day dispatch simulation experiment was carried out.The results show that the proposed dispatch algorithm has better superiority and adaptability to multi-objective constrained dispatch,so as to achieve the purpose of global optimal dispatch allocation and provide decision support for efficient completion of the receiving task.

关 键 词：网约车 二分图派单匹配 接载任务OD矩阵 供需预测关系 连环派单 自适应性匈牙利算法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] V354[自动化与计算机技术—控制科学与工程]