基于启发式规则的自动化码头换电式AGV调度优化方法  

Optimization Method for Power-changing AGV Scheduling of Automatic Terminal Based on Heuristic Rules

作　　者：李林蔓 李雨青 王孟雅 刘冉[1] 潘尔顺[1] LI Linman;LI Yuqing;WANG Mengya;LIU Ran;PAN Ershun(Department of Industrial Engineering and Management,Shanghai Jiao Tong University,Shanghai 201100,China)

机构地区：[1]上海交通大学工业工程与管理系,上海201100

出　　处：《运筹与管理》2023年第10期9-15,共7页Operations Research and Management Science

基　　金：国家自然科学基金资助项目(72071127)。

摘　　要：针对自动化集装箱码头的水平运输调度问题,考虑换电式AGV的同步装卸作业模式特点,提出了一种基于启发式规则的AGV调度优化方法。以AGV作业序列和换电时机为决策变量,建立了以最小化AGV空载时间、AGV等待时间、任务等待时间和岸边延误时间总成本为目标的调度模型。在此基础上,设计了基于“任务相对优先级”和“最早可获得时间”启发式规则的改进蚁群算法进行求解。通过数值实验,与不考虑换电过程、传统的启发式规则以及最小化最大完工时间得到的调度方案效果进行验证比较。实验结果表明,本方法提高码头运作效率的同时降低AGV能耗,更符合换电式AGV的实际作业调度。As the main equipment for the horizontal transportation of containers in automated terminals,the Automated Guided Vehicle’s(AGV)operational efficiency will directly affect the overall efficiency of the terminal.Therefore,the scheduling problem of AGV has gradually become one of the research hotspots of terminal optimization problems.At present,the research on the AGV scheduling problem in automated terminals lacks consideration of the charging or battery swapping process,and few scheduling decisions are made in the synchronous loading and unloading operation mode.Given the operation plan of the quay crane and yard crane,this paper considers the characteristics of synchronous loading and unloading operation mode and generates the AGV schedules to realize the joint decision of its container operation sequence and battery swapping time.The AGV scheduling method proposed in this paper has the following two purposes:One is to maximize the operational efficiency of the terminal,that is,to reduce the waiting time and delay time of container tasks;The other is to minimize the energy consumption of AGV,that is,to reduce the proportion of no-load and waiting time of AGV.Therefore,this paper takes the minimization of total time cost as the scheduling optimization goal,and comprehensively considers four specific indicators such as no-load time,AGV waiting time,task waiting time,and shore delay time to balance AGV energy consumption and the overall efficiency of the terminal.Aiming at the above joint decision-making problem of AGV operation and battery swapping,an integer programming model is established.According to the characteristics of synchronous loading and unloading operation mode,a heuristic rule based on“task relative priority”is designed.At the same time,in order to reduce the mutual waiting time between AGV and task,a scheduling rule of“earliest available time”is introduced,and the node transfer rule and pheromone update process of the ant colony algorithm are improved accordingly.In order to verify the e

关 键 词：调度规则 自动化码头 换电式AGV 蚁群算法 

分 类 号：U691.31[交通运输工程—港口、海岸及近海工程] TP278[交通运输工程—船舶与海洋工程]