无缓存流水线生产系统中AGV调度问题的研究  

Research on the AGV Scheduling Problem in the No-buffer Assembly Line

作　　者：汪星恺 吴维敏[1,2] 邢子超 牛昊一 WANG Xing-kai;WU Wei-min;XING Zi-chao;NIU Hao-yi(State Key Laboratory of Industrial Control Technology,Zhejiang University,Hangzhou 310058,China;College of Control Science and Engineering,Zhejiang University,Hangzhou 310058,China)

机构地区：[1]浙江大学工业控制技术国家重点实验室,浙江杭州310058 [2]浙江大学控制科学与工程学院,浙江杭州310058

出　　处：《东北大学学报（自然科学版）》2024年第1期58-67,75,共11页Journal of Northeastern University(Natural Science)

基　　金：广东省重点研发项目(2019B010120001);青岛市自主创新重大项目(21-1-2-15-zh).

摘　　要：针对无缓存流水线生产系统中的AGV(automatedguidedvehicle)调度问题提出了复合评分的启发式调度算法,降低了系统中AGV执行任务的间隔等候时间.首先,通过建立数学模型,对目前主流的AGV规模估计方法做出了改进.其次,提出了一种新的基于复合评分禁忌搜索的AGV前瞻调度算法.不同于目前主流的以空驶距离为优化目标的调度算法,该算法能够以最小化工件延误时间、最小化AGV空驶距离等多目标来统筹调度AGV.最后,为验证所提算法的有效性,从多个角度与已有算法进行了实验对比.仿真实验结果表明,相较于其他算法,提出的前瞻调度算法能够更有效地解决无缓存流水线生产系统这一新场景的AGV调度问题.实车实验也证明了该算法在实际生产中的有效性.To solve the AGV(automated guided vehicle)scheduling problem in the no-buffer assembly line,a heuristic scheduling algorithm base on composite score is proposed,reducing the waiting time of AGVs when execute tasks in the system.Firstly,the classical AGV fleet size determination algorithm based on the mathematical model is improved.Then,an improved tabu search-based AGV look-ahead scheduling algorithm(LSA)is proposed,which has a composite score strategy.Different from the most reported algorithms,LSA takes parts delay time,AGV empty travel distance and other objects into account.Finally,the proposed algorithms are compared with other reported algorithms.The simulation experiments prove that LSA has better performance than other algorithms.The robotic experiments prove that the proposed algorithm works well in actual production scenarios.

关 键 词：AGV调度算法 AGV规模确定算法 禁忌搜索算法 流水线生产系统 

分 类 号：TP278[自动化与计算机技术—检测技术与自动化装置]