面向物流场景的多机器人协作运输路径优化方法  

A Multi-robot Collaborative Transportation Path Optimization Method for Logistics Scenarios

作　　者：杨中国 陕鑫 刘梦如 李佳兴 张仲妹 YANG Zhongguo;SHAN Xin;LIU Mengru;LI Jiaxing;ZHANG Zhongmei(Beijing Key Laboratory on Integration and Analysis of Large-scale Stream Data,Beijing 100144,China;School of Information Science and Technology,North China University of Technology,Beijing 100144,China;School of Management Engineering,Shandong Jianzhu University,Jinan 250101,China)

机构地区：[1]大规模流数据集成与分析技术北京市重点实验室,北京100144 [2]北方工业大学信息学院,北京100144 [3]山东建筑大学管理工程学院,济南250101

出　　处：《北方工业大学学报》2024年第6期68-79,共12页Journal of North China University of Technology

基　　金：国家自然科学基金国际(地区)合作与交流项目(62061136006);山东省自然科学基金青年基金项目(ZR2021QF099)。

摘　　要：机器人在物流服务中扮演着越来越重要的角色,多个机器人将处在不同运输地点的货物进行组合运输,从而取得最短运输路径。但由于机器人的载重量限制和孤立的客户分布情况,传统的基于满载优先的配送方案已难以适应。货物的分布情况复杂、机器人载重量限制、多机器人协作场景使得货物组合优化问题求解难度陡增。本文分析了满载优先方案的缺陷,展示了孤立客户分布情况下的差异性,提出了一种并行优化框架。在该框架下,查询各种载重量组合的情况,改进传统智能优化算法,为离散货物装载组合优化问题提供新的求解方法。实验结果表明该方法在非满载状态下货物组合运输问题中具有显著优势。Robots are playing an increasingly important role in logistics services,where multiple robots will collaborate to transport goods from different locations to achieve the shortest transportation path.However,due to the limitations of the robots'carrying capacity and the isolated distribution of customers,the traditional delivery plan based on full-load priority is no longer suitable.The complexity of goods distribution,robot load limitations,and multi-robot cooperation scenarios significantly increase the difficulty of solving goods combination optimization problems.This paper first analyzes the shortcomings of the full-load priority scheme and demonstrates the differences in scenarios with isolated customer distribution.It then proposes a parallel optimization framework.Under this framework,various carrying capacity combinations are queried to improve traditional intelligent optimization algorithms,providing a new solution for the discrete goods loading combination optimization problem.Experimental results show the optimization potential of this method in non-full-load states for goods combination transportation problems.

关 键 词：物流服务 机器人 非满载 载重差异 路径规划 

分 类 号：TP399[自动化与计算机技术—计算机应用技术]