基于ISO-TW算法的多仓储机器人路径规划研究  

Research on path planning of multi-warehouse robots based on ISO-TW algorithm

作　　者：周小青[1] 童一飞[2] 周开俊[1,3] ZHOU Xiaoqing;TONG Yifei;ZHOU Kaijun(School of Mechanical Engineering,Nantong Vocational University,Nantong 226007,China;School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China;School of Automotive and Transportation Engineering,Nantong Vocational University,Nantong 226007,China)

机构地区：[1]南通职业大学机械工程学院,南通226007 [2]南京理工大学机械工程学院,南京210094 [3]南通职业大学汽车与交通工程学院,南通226007

出　　处：《现代制造工程》2024年第9期54-59,143,共7页Modern Manufacturing Engineering

基　　金：江苏省高等学校自然科学研究项目(21KJB580005)。

摘　　要：针对当前智能仓库中多仓储机器人协同规划效率低下、动态性不足等问题,提出了一种融合改进蛇优化(Improved Snake Optimizer,ISO)算法和时间窗(Time Window,TW)模型的路径规划方法。首先,在静态规划阶段,利用考虑阻塞因素的改进蛇优化算法为多仓储机器人规划出全局最优路径,同时计算出各机器人的时间窗,从而提升仓储机器人的规划效率;其次,在动态规划阶段,通过建立的多仓储机器人时间窗模型并引入动态调节策略,以消解冲突提升算法的动态性能;最后,进行仿真及实验。仿真结果表明,ISO-TW算法相较其他算法在阻塞点数量上最多可减少27~43个,减少幅度达22.50%~31.62%(机器人规模为80个);重规划路径比重可降低39.82%~41.05%(机器人规模为40个);平均运行时长最多可缩短38~40 s,缩短幅度约为18.27%~19.05%(机器人规模为60个)。实验结果表明,ISO-TW算法较其他算法平均运行时长减少8.53%~9.23%,冲突次数减少11.63%~15.56%,能够在真实场景中实现多仓储机器人的高效协同规划。To solve the low efficiency and insufficient dynamics of cooperative planning of multi-warehouse robots in current intelligent warehouses,a path planning method combining Improved Snake Optimizer(ISO) and Time Window(TW) model was proposed.Firstly,in the static planning stage,the improved snake optimizer considering the blocking factor was used to plan the global optimal path for multi-warehouse robots,and the time window of each robot was calculated,so as to improve the planning efficiency of warehouse robots.Secondly,in the dynamic planning stage,the time window model of multi-warehouse robots was established and dynamic adjustment strategy was introduced to resolve conflicts and improve the dynamic performance of the algorithm.Finally,simulation and experiments were conducted,the simulation results showed that the ISO-TW algorithm could reduce the number of blocking points by up to 27~43 compared to other algorithms with a reduction of 22.50 %~31.62 %(with a robot size of 80).The proportion of replanned paths could be reduced by 39.82 %~41.05 %(with a robot scale of 40).The average running time could be shortened by up to 38~40 s with a reduction of approximately 18.27 %~19.05 %(with a scale of 60 robots).Experimental results showed that the ISO-TW algorithm reduces the average running time by 8.53 %~9.23 % and the number of conflicts by 11.63 %~15.56 % compared to other algorithms.It could achieve efficient collaborative planning of multi-warehouse robots in real scenarios.

关 键 词：蛇优化算法 时间窗 仓储机器人 路径规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]