| 考虑冲突规避的自动化集装箱码头AGV优化调度方法 |
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| 引用本文： | 丁一,袁浩,方怀瑾,田宇.考虑冲突规避的自动化集装箱码头AGV优化调度方法[J].交通信息与安全,2022,40(3):96-107. |
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| 作者姓名： | 丁一 袁浩 方怀瑾 田宇 |
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| 作者单位： | 1.上海海事大学物流工程与科学研究院 上海 201306 |
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| 基金项目： | 国家重点研发计划项目2019YFB1704400国家重点研发计划项目2019YFB1704405 |
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| 摘 要： | 合理调度自动化导引车（AGV）对于降低自动化集装箱码头的作业成本具有重要意义。针对AGV调度中的任务分配和路径规划问题，考虑AGV电量和多载等因素，结合自动化码头布局特点，以AGV作业总时间最小和多AGV作业路径无冲突分别为第一阶段和第二阶段的优化目标建立两阶段模型。设计改进模拟退火算法求解第一阶段模型，为了加速算法收敛并保证解的质量，解的改进优先考虑任务的时间成本和AGV数量；设计基于时空网络的路径规划算法求解第二阶段模型，将作业区域离散成网格网络后添加时间信息构建可更新的时空网络，在时空网络上运用最短路径算法规划路径并规避冲突。对于任务分配不均衡导致的路径规划无可行解的拥堵情况，在冲突规避基础上重新计算AGV执行任务的成本并再次进行任务分配，不断迭代直到生成多AGV间路径无冲突的调度方案。以洋山四期自动化集装箱码头为例进行仿真实验与对比分析，结果表明:与使用传统路径规划和避障策略的AGV调度方法对比，所提方法下的总作业时间平均降低了7.31%，AGV冲突数量降低为0，任务总延期时间最大降低2 895 s，最大降低路网拥堵度10.79%，验证了提出方法解决冲突规避和拥堵问题的有效性。
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| 关 键 词： | 交通规划 AGV调度 冲突规避 时空网络模型 模拟退火 耦合模型 |
| 收稿时间： | 2022-01-21 |
An Optimal Scheduling Method of AGVs at Automated Container Terminal Considering Conflict Avoidance |
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| Affiliation: | 1.Institute of Logistics Science and Engineering, Shanghai Maritime University Shanghai 201306, China2.Shanghai International Port (Group) Co., Ltd., Shanghai 201306, China |
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| Abstract: | Scheduling of automated guided vehicles (AGVs) is crucial for improving the operational efficiency of automated container terminals. In this paper, a two-stage optimization model is proposed for task allocation and path planning of AGVs with the consideration of the following factors: the remaining power supply of the AGV, multiple loads, and the characteristics of automated port layout. During the first stage of the optimization, a task allocation model is used to minimize the total operation time of AGVs, while a path planning model is used to optimize the operation paths of AGVs in the second stage, which will prevent the conflicts between AGVs. A new simulated annealing algorithm is developed to solve the proposed task allocation model. To guarantee an acceptable running time of the algorithm and the quality of the solution, the time cost of the task and the number of AGVs are prioritized in the process of improving the solution algorithm. A path planning algorithm based on time-space network is designed to solve the path planning problem, which discretizes the work area into a grid network and adds revised time information to develop an updated time-space network. It searches for the shortest path based on the network, while detecting conflicts and adjusting routes to avoid collisions and congestion of paths. Under the congestion scenarios, where there is no feasible solution for path planning due to unbalanced task assignment, the cost of AGV tasks will be recalculated based on conflict avoidance and their tasks will be reassigned again. Simulation experiment and comparative analysis are carried out for the case study automated container terminal (Phase Ⅳ) of the Yangshan Port. The proposed method for scheduling of AGVs is compared with a traditional path planning and obstacle avoidance model. study results show that the total operation time is reduced by 7.31% on average. The conflicts between AGVs are totally removed. The total task delay is reduced by 2 895 s, and the network congestion is reduced by 10.79%. |
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