自动装箱系统中多AGV在线调度问题研究  

Research on the online scheduling problem of multi-AGVs in automatic packing system

作　　者：周国诚 陶翼飞 何毅[2] 李立山 吴佳兴 ZHOU Guocheng;TAO Yifei;HE Yi;LI Lishan;WU Jiaxing(Kunming University of Science and Technology,Kunming 650504,China;Honghe Tobacco Factory of Hongyun Honghe Tobacco(Group)Co.,Ltd.,Honghe 661400,China)

机构地区：[1]昆明理工大学,昆明650504 [2]红云红河烟草(集团)有限责任公司红河卷烟厂,红河661400

出　　处：《现代制造工程》2025年第2期17-25,36,共10页Modern Manufacturing Engineering

基　　金：云南省重点研发计划项目(2018BA086)。

摘　　要：为提高自动装箱系统中多AGV运行效率,针对多AGV在线调度问题,以最小化AGV运行时间为优化目标,结合实际工况下约束条件建立该问题数学模型,并提出一种两阶段在线协同调度算法进行求解。该算法基于自动装箱系统仿真模型开发,首先,利用基于AGV运行时间的搬运任务指派算法求解搬运任务指派问题;其次,设计了带有AGV优先级规则与冲突解决策略的路径规划算法求解路径规划问题;最后,使用时空拥堵表(Spatio-Temporal Blocking Table,STBT)来记录路径的时空拥挤度(Spatio-Temporal Blocking Degree,STBD)和预计等待时间,并将表中信息作为约束条件融入到算法两阶段的寻优过程中,求解过程实现了多AGV搬运任务指派与路径规划的集成优化。通过不同规模仿真案例验证了所提算法的有效性,并与相关研究成果展开对比实验,验证所提算法的优越性。In order to improve the operation efficiency of multi-AGVs in the automatic packing system,a two-stage online cooperative scheduling algorithm is proposed to solve the multi-AGV online scheduling problem,which is based on the optimization objective of minimizing the AGV operation time combined with the constraints of the actual working conditions.The algorithm is developed based on the simulation model of the automatic packing system.Firstly,the handling task assignment algorithm based on the AGV running time is used to solve the handling task assignment problem;secondly,the path planning algorithm with AGV priority rules and conflict resolution strategies is designed to solve the path planning problem;finally,the Spatio-Temporal Blocking Table(STBT)is used to record the Spatio-Temporal Blocking Degree(STBD)of the paths and the estimated waiting time,and the information in the table is incorporated into the two-stage collaborative scheduling algorithm as the constraints.The effectiveness of the proposed algorithm is verified by simulation cases with different scales,and the superiority of the proposed algorithm is verified by comparison experiments with related research results.

关 键 词：自动装箱系统 自动导引小车 两阶段在线协同调度算法 路径规划 任务指派 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]