考虑能耗的多AGV系统无冲突路径规划  

Conflict Free Path Planning for Multi AGV Systems Considering Energy Consumption

作　　者：陈晶晶 方叶祥[1] 王文凤 CHEN Jingjing;FANG Yexiang;WANG Wenfeng(School of Economics and Management,Nanjing Tech University,Nanjing 211816,China)

机构地区：[1]南京工业大学经济与管理学院,南京211816

出　　处：《组合机床与自动化加工技术》2023年第12期56-60,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：江苏省社会科学基金项目(21GLB010)。

摘　　要：针对制造企业仓储车间内利用多自动导引车(automated guided vehicle,AGV)进行货物运输任务时,车间内会出现部分区域禁止通行,路线间不完全连通使AGV绕道而行及无冲突路径规划未能考虑节能减排这一不足。基于此提出两阶段优化方法,首先,介绍三维变量定义部分连通电子拓扑图,建立优化目标为搬运时间和能耗的多AGV节能路径规划模型,利用非支配排序遗传算法(NSGA-Ⅱ)求解初始节能路径;然后,利用时间窗检测冲突类型,构建动态优先级策略进行主动避撞机制;当出现AGV发生故障、货物掉落等情况,通过被动避撞机制对AGV进行重新路径规划,以规划出全局多AGV无冲突路径;最后,案例研究验证了两阶段优化方法的有效性。When the automated guided vehicle(AGV)is used in the warehouse workshop of a manufacturing enterprise to carry out the cargo transportation task,some areas in the workshop will be closed to traffic,incomplete connectivity between routes will make the AGV detour and the non-conflict path planning fails to consider the energy saving and emission reduction.Based on this,a two-stage optimization method is proposed.Firstly,a three-dimensional variable is introduced to define the partially connected electronic topology,and a multi-AGV energy saving path planning model with the optimization objectives of transportation time and energy consumption is established.The initial energy saving path is solved using the non-dominated sorting genetic algorithm(NSGA-Ⅱ).Then,the collision type is detected by time window,and the dynamic priority strategy is constructed for active collision avoidance mechanism;In case of AGV failure,goods falling,etc.,the AGV is re-routed through the passive collision avoidance mechanism to plan the global multi-AGV non-conflict path.Finally,a case study verifies the effectiveness of the two-stage optimization method.

关 键 词：自动导引车 能耗 路径规划 无冲突路径 部分连通拓扑图 

分 类 号：TH164[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]