软件导刊2024，Vol.23Issue(1)：50-56,7.DOI:10.11907/rjdk.231036
自主移动机器人三维拣选路径规划研究
Research on the Planning of Autonomous Mobile Robot's Three-dimensional Picking Path
摘要
Abstract
A mixed integer programming model is established with the aim of minimizing the time which takes AMR to finally complete the picking task in the"goods-to-person"background mode.It is done by analyzing the picking mode and operation process of AMR and taking in-to account the speed of AMR itself,the number of pallets,and the load limit.A simulated annealing metropolis criterion that is simple to es-cape the local optimal is added to the standard particle swarm algorithm,and when combined with the dynamic inertia weight value and the penalty function of decreasing curve,a simulated annealing particle swarm mixing algorithm is created to solve the model.The model and algo-rithm are then validated using an intelligent picking center as an example.The simulated annealing particle swarm mixing algorithm is com-pared with the standard particle swarm algorithm and the simulated annealing algorithm,and the results show that the proposed model and al-gorithm outperform the other two heuristic algorithms in terms of iteration speed and solution deviation.关键词
货到人/AMR/智能拣选中心/路径规划/模拟退火粒子群混合算法Key words
goods to person/AMR/smart picking center/path planning/simulated annealed particle swarm mixing algorithm分类
信息技术与安全科学引用本文复制引用
丁荣宽,董宝力..自主移动机器人三维拣选路径规划研究[J].软件导刊,2024,23(1):50-56,7.基金项目
浙江省自然科学基金项目(LY16F020024) （LY16F020024）
教育部产学合作协同育人项目(220902084031751) （220902084031751）
