工程设计学报2018，Vol.25Issue(2)：200-208,9.DOI:10.3785/j.issn.1006-754X.2018.02.011
基于路段时间窗考虑备选路径的AGV路径规划
AGV path planning considering alternative paths based on time window of road section
摘要
Abstract
To solve the problem of the automated guided vehicle(AGV)path planning based on the unloader task of automated container terminal,an AGV path planning method based on time window of road section was proposed through combining the optimal path mathematical model, path searching method and time window.First of all,the AGV with dispatched task was planned the shortest path by the optimal path mathematical model.Secondly,AGV alternative paths were selected through path searching method.When the path length was the same,the selection priori-ty was determined by the number of turning times in the path,and the alternative path with fe-wer turning times had higher priority.Finally,time windows of road section were set up under AGV shortest path.If the time windows on the same road section were not overlapped,then the AGV was collision free on the path.As for the overlapped time window of road section,the time window would be inserted into the original path or the alternative path.Then time window's o-verlap test and adjustment continued if there still existed overlaps until the multiple AGV paths planning without time window overlap.In order to verify the validity of the method,a case of eight AGVs working simultaneously was experimented to prove that the proposed path planning method had good free-collision effect on AGVs.The results showed that this method could be used to plan a non-conflict optimization path for AGVs working simultaneously and to get the shorter time path availably.It was found that the method of insert time window on the alternative path was bet-ter.The reasearch shows that the proposed method has good free-collision effect on AGVs.Besides,it can effectively improve the efficiency of AGV utilization and automatic container terminal operation.关键词
自动化集装箱码头/AGV/时间窗/路径规划Key words
automated container terminal/automated guided vehicle(AGV)/time window/path planning分类
信息技术与安全科学引用本文复制引用
梁承姬,沈珊珊,胡文辉..基于路段时间窗考虑备选路径的AGV路径规划[J].工程设计学报,2018,25(2):200-208,9.基金项目
国家自然科学基金资助项目(71471110) （71471110）
上海市科委创新项目(16040501500,16DZ1201402) （16040501500,16DZ1201402）
