民用客机总装车间自动引导车任务分配及路径规划
收稿日期: 2021-06-05
修回日期: 2021-08-03
网络出版日期: 2022-08-12
基金资助
国家重点研发计划(2019YFB1705702);国家自然科学基金资助项目(52175475)
Task Assignment and Path Planning for Automatic Guided Vehicles in Aircraft Assembly Workshop
Received date: 2021-06-05
Revised date: 2021-08-03
Online published: 2022-08-12
为了实现自动引导车(AGV)在某民用客机总装车间的高效运作,提出AGV任务分配与路径规划两阶段求解方法,有效地解决了车间内AGV的多次往返配送调度问题.在任务分配阶段,提出基于行程的AGV任务分配模型,提高任务分配的效率;在路径规划阶段,采用时间窗算法,对AGV占用的地图资源进行时间窗的初始化、更新和排布,并针对由于避障和等待引起的物料送达时间无法满足的情况,设计了料包交换、优先级提前、预留时长放宽共3种递进的调整策略,实现AGV的无冲突路径规划.在数值实验中,两阶段方法应用于50、100、150个料包问题的平均求解时间分别为15.86、41.12、162.29 s,表明两阶段方法有效缓解了多行程AGV调度问题的复杂性,能在合理时间内实现民用客机总装车间AGV的调度优化,以适应民用客机年产量逐年快速递增的生产需求.
裘柯钧, 鲍中凯, 陈璐 . 民用客机总装车间自动引导车任务分配及路径规划[J]. 上海交通大学学报, 2023 , 57(1) : 93 -102 . DOI: 10.16183/j.cnki.jsjtu.2021.223
To realize efficient scheduling of automatic guided vehicles (AGV) in the aircraft final assembly workshop, a two-stage method of AGV task allocation and path planning is proposed which effectively solves the problem of multi-trip distribution scheduling of AGV in the workshop. In the task allocation stage, an AGV task allocation model based on the trip is established to improve task allocation efficiency. In the path planning stage, the time window algorithm is used to initialize, update, and arrange the time window of the resources occupied by the AGV. Considering that the latest delivery time constraints may be violated due to obstacle avoidance and waiting, three adjustment strategies are designed to realize the conflict-free path planning of AGV, including the package exchanging strategy, the priority exchanging strategy, and the reserved conflict duration relaxation strategy. In numerical experiments, the average solving time of the two-stage method applied to problems with the scale of 50, 100, and 150 is 15.86, 41.12, and 162.29 s, which indicates that the two-stage method effectively alleviates the complexity of the multi-trip AGV scheduling problem. The two-stage method can realize the scheduling of the AGV in aircraft assembly workshop within a reasonable time and adapt to the rapid increase in the annual production of aircraft.
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