考虑电量约束和任务均衡的多移动机器人任务分配研究  

Research on Task Allocation of Multi-mobile Robots Considering Power Constraints and Task Balancing

作　　者：陈晓迪 王坤[1,2] CHEN Xiaodi;WANG Kun(School of Transportation and Logistics,Southwest Jiaotong University,Chengdu 610031,China;National United Engineering Laboratory of Integrated and Intelligent Transportation,Chengdu 610031,China)

机构地区：[1]西南交通大学,交通运输与物流学院,四川成都610031 [2]综合交通运输智能化国家地方联合工程实验室,四川成都610031

出　　处：《综合运输》2024年第11期123-129,175,共8页China Transportation Review

摘　　要：智能订单履行系统是一种典型的“货到人”系统,具有拣选效率高、出错率低、人工劳动强度低的优点,已逐渐应用于仓储拣选环节。针对其中多移动机器人任务分配问题,以总距离最小、任务均衡为目标,综合考虑移动机器人空载和负载状态耗电差异和剩余电量约束,构建了考虑电量约束和任务均衡的多移动机器人任务分配模型。为求解该模型进一步提出基于贪心算法和遗传算法的两阶段求解法。最后通过算例仿真,验证了所提模型和算法的可行性和有效性。Robotic Mobile Fulfllment Systems(RMFS)is a typical"parts-to-picker"system,which has the advantages of high picking efficiency,low error rate,and low manual labor intensity,and has been gradually applied to warehouse picking.In order to solve the multi-mobile robot task allocation problem,with the objectives of minimizing the total distance and balancing the tasks,the multi-mobile robot task allocation model with power constraints and task balancing is constructed by comprehensively considering the difference in power consumption between unloaded and loaded mobile robots and the constraints on the remaining power.A two-stage solution method based on greedy algorithm and genetic algorithm is further proposed to solve the model.Finally,the feasibility and validity of the proposed model and algorithm are verified by instance simulation.

关 键 词：智能订单履行系统 多移动机器人 电量约束 调度 任务分配 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]