上海交通大学学报

上海交通大学学报 ›› 2020, Vol. 54 ›› Issue (2): 126-134.doi: 10.16183/j.cnki.jsjtu.2020.02.003

• 学报（中文） • 上一篇    下一篇

自动存取系统多载量轨道小车避碰调度方法

马昌谱1,2，周炳海1   

  1. 1. 同济大学 机械与能源工程学院， 上海 201804； 2. 桂林航天工业学院 管理学院， 广西 桂林 541004
  • 发布日期:2020-03-06
  • 通讯作者: 周炳海，男，教授，博士生导师，电话（Tel.）：18917009179；E-mail：bhzhou@tongji.edu.cn.
  • 作者简介:马昌谱（1979-），男，贵州省普安县人，博士生，讲师，研究方向为智能优化和生产系统建模和调度.
  • 基金资助:
    国家自然科学基金 (71471135)，国家社会科学基金（14XJY009），广西教育厅科研基金(KY2015YB349)资助项目

Scheduling of Multi-Load Rail Guided Vehicles in AS/RS with Collision Avoidance Constrains

MA Changpu 1,2，ZHOU Binghai 1   

  1. 1. School of Mechanical Engineering, Tongji University, Shanghai 201804, China； 2. School of Management, Guilin University of Aerospace Technology, Guilin 541004, Guangxi, China
  • Published:2020-03-06

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摘要： 针对自动存取系统(AS/RS)货物装卸顺序约束和轨道小车(RGV)潜在碰撞的问题，引入装卸顺序冲突和碰撞冲突的概念对问题进行描述，以最小化任务总完工时间为目标，建立了消除冲突的数学规划模型.针对小规模问题，应用CPLEX获取其最优解；对于中大规模问题，构建了改进型和声搜索算法.在算法设计中，通过拆分、合并和声记忆库加快搜索速度，并融入4种变邻域搜索策略和1种变异操作以克服基本和声搜索算法早熟收敛、易陷入局部最优等不足.仿真实验与其他算法的对比结果表明，所构建算法具有较高的求解质量和良好的收敛性能，能提高AS/RS的运行速度和实用性.

关键词: 自动存取系统； 避碰调度； 改进型和声搜索算法； 装卸顺序约束

Abstract: To deal with the problems of cargo loading/unloading sequence constraint and impending collision between rail guided vehicles (RGVs) in automated storage and retrieval system (AS/RS), the concepts of the conflicts of cargo loading/unloading sequence and collision are introduced. And a mathematical programming model considering the characteristics of eliminating the conflicts is established to minimize the total complete time. CPLEX is employed to optimally solve the small-scale problems, and a modified harmony search(MHS) algorithm is constructed for medium to large scale problems. In the algorithm design, the harmony memory is repeatedly divided and regrouped to accelerate the searching process, and four variable neighborhood search strategies and a mutation operation are integrated to overcome the deficiencies of the basic harmony search algorithm, such as limited search depth and tendencies to trap into local optimum. Simulation experiments of the MHS algorithm are compared with other evolution algorithms, and the simulation results show that the algorithm has high solution quality and good convergence performance, and can improve the running speed and the practicality of the AS/RS.

Key words: automated storage and retrieval system (AS/RS); collision avoidance scheduling; modified harmony search (MHS) algorithm; loading/unloading sequence constraint

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