Path planning problem is the core and hot research topic of multiple Automatic Guided Vehicles (multi-AGVs) system. Although there are many research results, they do not solve the path planning problem from the perspe...Path planning problem is the core and hot research topic of multiple Automatic Guided Vehicles (multi-AGVs) system. Although there are many research results, they do not solve the path planning problem from the perspective of reducing traffic congestion. A collision-free path planning method based on improved A* Algorithm for multi-AGVs logistics sorting system is proposed in this paper. In the method, the environment of warehouse operation for AGVs is described by using grid method. The estimated cost of A* algorithm is improved by adding the penalty value of the paths that AGVs share with each other to alleviate traffic congestion and collision resolution rules are made according to different types of collisions. Then the collision-free path planning is done by combing the improved A* algorithm and collision resolution rules. The sorting efficiency of the method is compared with that of original A* algorithm. Simulation results show that the new collision-free path planning method can improve the sorting efficiency of multi-AGVs system and relieve traffic congestion.展开更多
As the number of automated guided vehicles(AGVs)within automated container terminals(ACT)continues to rise,conflicts have becomemore frequent.Addressing point and edge conflicts ofAGVs,amulti-AGVconflict-free path pla...As the number of automated guided vehicles(AGVs)within automated container terminals(ACT)continues to rise,conflicts have becomemore frequent.Addressing point and edge conflicts ofAGVs,amulti-AGVconflict-free path planning model has been formulated to minimize the total path length of AGVs between shore bridges and yards.For larger terminalmaps and complex environments,the grid method is employed to model AGVs’road networks.An improved bounded conflict-based search(IBCBS)algorithmtailored to ACT is proposed,leveraging the binary tree principle to resolve conflicts and employing focal search to expand the search range.Comparative experiments involving 60 AGVs indicate a reduction in computing time by 37.397%to 64.06%while maintaining the over cost within 1.019%.Numerical experiments validate the proposed algorithm’s efficacy in enhancing efficiency and ensuring solution quality.展开更多
The inbound and outbound tasks for valuable imported ship outfitting items are operated by multiple automated guided vehicles(AGVs)simultaneously in the outfitting warehouse.Given the efficiency mismatch between trans...The inbound and outbound tasks for valuable imported ship outfitting items are operated by multiple automated guided vehicles(AGVs)simultaneously in the outfitting warehouse.Given the efficiency mismatch between transportation equipment and the lack of effective scheduling of AGVs,the objective of the studied scheduling problem is to minimize the total travel time cost of vehicles.A multi-AGV task scheduling model based on time window is established considering the loading constraints of AGVs and cooperation time window constraints of stackers.According to the transportation characteristics in the outfitting warehouse,this study pro-poses a conflict detection method for heavy forklift AGVs,and correspondingly defines a conflict penalty function.Furthermore,to comprehensively optimize travel time cost and conflict penalty,a hybrid genetic neighborhood search algorithm(GA-ANS)is proposed.Five neighborhood structures are designed,and adaptive selection opera-tors are introduced to enhance the ability of global search and local chemotaxis.Numerical experiments show that the proposed GA-ANS algorithm can effectively solve the problem even when the scale of the problem increases and the effectiveness of the vehicle conflict penalty strategy is analyzed.展开更多
文摘Path planning problem is the core and hot research topic of multiple Automatic Guided Vehicles (multi-AGVs) system. Although there are many research results, they do not solve the path planning problem from the perspective of reducing traffic congestion. A collision-free path planning method based on improved A* Algorithm for multi-AGVs logistics sorting system is proposed in this paper. In the method, the environment of warehouse operation for AGVs is described by using grid method. The estimated cost of A* algorithm is improved by adding the penalty value of the paths that AGVs share with each other to alleviate traffic congestion and collision resolution rules are made according to different types of collisions. Then the collision-free path planning is done by combing the improved A* algorithm and collision resolution rules. The sorting efficiency of the method is compared with that of original A* algorithm. Simulation results show that the new collision-free path planning method can improve the sorting efficiency of multi-AGVs system and relieve traffic congestion.
基金supported by National Natural Science Foundation of China(No.62073212)Shanghai Science and Technology Commission(No.23ZR1426600).
文摘As the number of automated guided vehicles(AGVs)within automated container terminals(ACT)continues to rise,conflicts have becomemore frequent.Addressing point and edge conflicts ofAGVs,amulti-AGVconflict-free path planning model has been formulated to minimize the total path length of AGVs between shore bridges and yards.For larger terminalmaps and complex environments,the grid method is employed to model AGVs’road networks.An improved bounded conflict-based search(IBCBS)algorithmtailored to ACT is proposed,leveraging the binary tree principle to resolve conflicts and employing focal search to expand the search range.Comparative experiments involving 60 AGVs indicate a reduction in computing time by 37.397%to 64.06%while maintaining the over cost within 1.019%.Numerical experiments validate the proposed algorithm’s efficacy in enhancing efficiency and ensuring solution quality.
基金China Ministry of Industry and Information Technology for High-Tech Ship Project。
文摘The inbound and outbound tasks for valuable imported ship outfitting items are operated by multiple automated guided vehicles(AGVs)simultaneously in the outfitting warehouse.Given the efficiency mismatch between transportation equipment and the lack of effective scheduling of AGVs,the objective of the studied scheduling problem is to minimize the total travel time cost of vehicles.A multi-AGV task scheduling model based on time window is established considering the loading constraints of AGVs and cooperation time window constraints of stackers.According to the transportation characteristics in the outfitting warehouse,this study pro-poses a conflict detection method for heavy forklift AGVs,and correspondingly defines a conflict penalty function.Furthermore,to comprehensively optimize travel time cost and conflict penalty,a hybrid genetic neighborhood search algorithm(GA-ANS)is proposed.Five neighborhood structures are designed,and adaptive selection opera-tors are introduced to enhance the ability of global search and local chemotaxis.Numerical experiments show that the proposed GA-ANS algorithm can effectively solve the problem even when the scale of the problem increases and the effectiveness of the vehicle conflict penalty strategy is analyzed.
