基于交通流分析的集装箱码头AGV拥堵消解方法  

Congestion Resolution Method Based on Traffic Flow Analysis for AGV in Container Terminals

作　　者：李圣坤 段亚星 Li Shengkun

机构地区：[1]东南大学自动化学院,江苏南京210096

出　　处：《工业控制计算机》2025年第1期68-70,共3页Industrial Control Computer

摘　　要：自动导引车(Automated Guided Vehicles,AGVs)的拥堵问题一直困扰着自动化集装箱码头,通常归结为无冲突路径规划问题来消解,鲜有考虑道路负载对拥堵的重要影响。以垂直布局自动化集装箱码头为背景,将负载均衡性引入了路径规划中,提出一种无拥堵的多AGVs路径规划方法。首先,建立了道路流量、道路占有率、占有率与AGV速度比之间的定量关系,据此给出了自动化集装箱码头拥堵判定方法;然后,通过引入拥堵惩罚机制,提出一种基于冲突搜索的滚动窗口无冲突路径规划方法,可以疏解AGV趋于集中带来的拥堵状况。最后,通过仿真实验验证了该方法的有效性。Taking the vertical layout of automated container terminals as the background,this paper introduces load balancing into path planning and proposes a congestion-free multi-AGVs path planning method.First,the quantitative relationship between road flow,road occupancy,occupancy and AGV speed ratio is established,and a congestion determination method for automated container terminals is given based on this.Then,by introducing a congestion penalty mechanism,a conflict search-based algorithm is proposed.The rolling window conflict-free path planning method can relieve the congestion caused by the concentration of AGVs.Finally,the effectiveness of the method is verified through simulation experiments.

关 键 词：自动化集装箱码头 路径规划 拥堵消解 冲突搜索 交通流 

分 类 号：U691[交通运输工程—港口、海岸及近海工程]