基于改进DQN算法的无人仓多AGV路径规划  

Multi-AGV Route Planning for Unmanned Warehouses Based on Improved DQN Algorithm

作　　者：谢勇[1] 郑绥君 程念胜 朱洪君 XIE Yong;ZHENG Suijun;CHENG Niansheng;ZHU Hongjun(School of Artificial Intelligence and Automation,Huazhong University of Science and Technology,Wuhan 430074,China;Aerospace Information Co.,Ltd,Beijing 100195,China)

机构地区：[1]华中科技大学人工智能与自动化学院,湖北武汉430074 [2]航天信息股份有限公司,北京100195

出　　处：《工业工程》2024年第1期36-44,53,共10页Industrial Engineering Journal

基　　金：国家自然科学基金资助面上项目(71771096);国家自然科学基金创新群体资助项目(71821001)。

摘　　要：针对无人仓中多AGV路径规划与冲突问题,以最小化总行程时间为目标,建立多AGV路径规划模型,提出一种基于动态决策的改进DQN算法。算法设计了基于单AGV静态路径规划的经验知识模型,指导AGV的学习探索方向,提前规避冲突与障碍物,加快算法收敛。同时提出基于总行程时间最短的冲突消解策略,从根本上解决多AGV路径冲突与死锁问题。最后,建立无人仓栅格地图进行仿真实验。结果表明,本文提出的模型和算法较其他DQN算法收敛速度提升13.3%,平均损失值降低26.3%。这说明该模型和算法有利于规避和化解无人仓多AGV路径规划冲突,减少多AGV总行程时间,对提高无人仓作业效率具有重要指导意义。To solve the problem of multi-AGV route planning and conflicts in unmanned warehouses,with the objective of minimizing the total travel time,a multi-AGV route planning model is established,and an improved DQN algorithm based on dynamic decision-making is proposed.An empirical knowledge model based on static route planning of a single AGV is designed to guide the learning and exploration direction of AGVs.It avoids conflicts and obstacles for AGVs in advance,and accelerates the convergence of the proposed algorithm.Also,a conflict resolution strategy based on the shortest total travel time is proposed to fundamentally solve the problem of multi-AGV route conflicts and deadlocks.Finally,a grid map of an unmanned warehouse is established for simulation experiments.Results show that,compared with other DQN algorithms,the convergence speed of the proposed model and algorithm is increased by 13.3%,and the average loss value is reduced by 26.3%.This result indicates that the model and algorithm are conducive to avoiding and resolving the conflicts of multi-AGV route planning in unmanned warehouses,reducing the total travel time of multiple AGVs and having important guiding significance to improve the efficiency of unmanned warehouse operations.

关 键 词：多AGV 路径规划 DQN算法 经验知识 冲突消解 

分 类 号：F406.2[经济管理—产业经济] TP24[自动化与计算机技术—检测技术与自动化装置]