基于路径特征的自动化码头AGV自适应交通控制

针对集装箱码头双向导引自由路径环境下水平运输系统交通管理的难题,在考虑车辆物理尺寸、轨迹及行车规则的基础上,构建合理栅格单位的环境地图,建立多车多任务路径的交通控制模型,并提出一种基于路径特征的自适应交通控制方法,采用滚动调度策略和启发式策略的遗传算法进行算例试验。结果表明,相比于固定预留方法,所提出的方法以更小的区段为调度间隔,并形成自适应计划期,预留栅格数量更灵活,实现了灵活区段定义下的道路自适应预留调度并避免阻塞,提高了道路资源的利用率。

AGV adaptive traffic control based on route characteristics in automated container terminal

For the complexity of traffic management under the bidirectional free path environment in container terminal,on the basis of considering the AGV physical size,trajectory and driving rules of the vehicle,we set up an environmental map of reasonable grid units,establish a traffic control model of multi-vehicle and multi-task paths,propose an adaptive traffic control method based on path characteristics,and apply the genetic algorithm of rolling scheduling and heuristic strategy to carry out an example test.The results show that compared with the fixed reservation method,the proposed method takes smaller extents as the scheduling interval and forms an adaptive planning period,and the number of reserved raster is more flexible,which realizes the adaptive reservation schedule and blocking avoidance under the flexible section definition,and improves the utilization rate of road resources.