基于Ant-agent 的自动化码头AGV 控制算法

为解决自动化码头水平运输区存在的自动导引车(AGV)路径冲突和道路死锁问题，提高运输效率，将AGV视为蚂蚁智能体(Ant-agent)，设定其携带负反馈机制的信息素进入运输路网. 引入拥挤度及拥挤度阈值q ，建立新的状态转移规则；针对节点冲突和路径拥堵，构建解决机制；提出基于Ant-agent 的AGV控制算法，采用两阶段均匀设计试验法确定算法最优参数组合. 仿真结果表明，与传统动态路径规划算法对比，所提算法在各运输任务量下的避碰性能、解锁性能和运输效率均有较大提高，可有效地解决AGV路径冲突和道路死锁，提高运输效率.

An AGV Control Algorithm in Automated Terminal Based on Ant-agent

In order to solve the problem of automated guided vehicle (AGV) path conflict and road deadlock in the automated terminal horizontal transportation area, improving transportation efficiency, AGV is treated as Antagent, carrying the pheromone with negative feedback mechanism into the transportation network. A new state transition rule is established on the basis of the congestion and its threshold q . A solution mechanism for node conflicts and path congestion is constructed. As a result, the AGV control algorithm based on Ant- agent is proposed. The optimal parameter combination of the algorithm is determined through the method of two- stage uniform design test. Simulation result indicates that compared with traditional dynamic path planning algorithms, the collision avoidance performance, unlocking performance and transportation efficiency of the algorithm are greatly improved. It can effectively solve AGV path conflicts and deadlocks, as well as improve transportation efficiency.