多工序加工单元的移动机器人调度优化

为合理分配动力电池生产线容量确定单元中移动机器人的任务，优化机器人调度路径，提高调度效率，在考虑设备加工工时、物理位置等约束下，以最小化调度任务时间为目标，建立多工序加工单元单轨约束下多移动机器人调度模型，设计遗传算法并采用MATLAB进行求解，给出不同机器人分配方案下的目标函数值和收敛情况。结果表明，采用所提出的调度方法对单轨多机器人服务范围进行规划能够减少调度时间、提高调度效率。

Mobile Robot Scheduling Optimization of Multi-Procedure Machining Unit

In order to reasonably allocate the mobile robot task in the capacity unit of power battery production line, optimize the robot scheduling path, and improve the scheduling efficiency, under the circumstances of considering the constraints of equipment machining working hours, physical position, etc., taking the minimization of scheduling task time as the goal, the multi-mobile robot scheduling model under the monorail constraint of multi-procedure machining unit is established, the genetic algorithm is designed to find a solution with MATLAB, and the objective function values and convergence situation under the different robot allocation schemes are given. The results show that it can reduce the scheduling time and improve the scheduling efficiency to use the proposed scheduling method to plan for the monorail multi-robot service range.