基于动态路径规划的集装箱码头AGV充换电方案研究  

Charging and swapping scheme for container terminal AGV based on dynamic path planning

作　　者：王瑞华[1] 封学军[1] 张艳[1] 马赛 WANG Rui-hua;FENG Xue-jun;ZHANG Yan;MA Sai(Institute of Harbour and Waterway Logistics and Green Development,Hohai University,Nanjing,Jiangsu 210098,China)

机构地区：[1]河海大学港航物流与绿色发展研究所,江苏南京210098

出　　处：《中国港湾建设》2025年第3期82-90,共9页China Harbour Engineering

基　　金：国家重点研发计划(2021YFB2600203)。

摘　　要：自动导引车(AGV)的电池续航能力及充电方式和效率对于自动化集装箱码头的运营有重要意义。基于AGV工作特点,构建了自动化集装箱码头拓扑地图,引入惩罚函数改进A^(*)算法,由AnyLogic仿真软件实现AGV动态路径规划;建立了针对AGV无线充电和换电站充电方案的成本模型,分析充换电方式的最优选择并量化其效益。案例结果表明:改进的A^(*)算法能减少AGV行驶过程中的拐弯次数,动态路径规划算法有效地规避了AGV冲突;AGV无线充电方案建设成本远大于换电站方案建设成本,但单次作业无线充电方案成本相比换电方案节约19.26元,计算临界工作量为50.464万次。通过比较自动化集装箱码头实际工作量与临界工作量,可为集装箱码头选择合适的充电方案提供决策支持。The battery endurance,charging methods,and efficiency of Automated Guided Vehicles(AGVs) are crucial for theoperation of automated container terminals.Based on the characteristics of AGVs,a topological map model of automatedcontainer terminals was constructed.The A^(*) algorithm was improved by incorporating a penalty function,and AGV dynamicpath planning was implemented using AnyLogic simulation software.A cost model for both AGV wireless charging and batteryswap station charging schemes was established to analyze the optimal choice of charging and swapping methods and quantifytheir benefits.The case results show that the improved A^(*) algorithm can reduce the number of turns during AGV driving,andthe dynamic path planning algorithm can effectively avoid AGV conflicts.The construction cost of the AGV wireless chargingscheme is much higher than that of the battery swapping station scheme,but the wireless charging scheme saves 19.26 yuan peroperation compared to the battery swapping scheme,with a calculated critical workload of 50.464 operations.By comparing theactual workload of the automated container terminal with the critical workload,decision support can be provided for selectingthe appropriate charging scheme for the container terminal.

关 键 词：交通规划 自动化集装箱码头 AGV 充换电方式选择 改进A*算法 

分 类 号：U656.135[交通运输工程—港口、海岸及近海工程]