基于遗传算法的柔性机器人制造单元调度问题研究

Research of Flexible Robotic Manufacturing Cell Scheduling Problem Based on Hybrid Genetic Algorithm

考虑机器人在装载站、机床、卸载站三者间搬运时间和空载时间的情况下求解柔性机器人制造单元Job-shop类型调度问题,目标是求所有工件加工完成并搬至卸载站的最短时间。首先,在分析机器人制造单元调度问题特点的基础上建立其数学模型,提出了一种新的对机器人搬运工序排序组成搬运序列矩阵的调度方法,机器人按搬运序列搬运,机床则按先到先服务规则(FCFS)加工;然后针对这种调度方法提出了一种改进遗传算法,为遗传算法设计了一种基于搬运工序编码方法与启发式分配策略,设计了一种启发式搬运矩阵调整方法,最后,把启发式调整算法与遗传算法结合组成混合算法对调度问题进行求解,通过标准算例计算,验证了算法的有效性。

Considering the transport time of robot among loading station machine and unloading station to solve flexible robotic manufacturing cell scheduling problem. The goal is to find the shortest time for all workpiece is completed and moved to unload station. Firstly,mathematical model is established based on analysis of the characteristics of flexible robot manufacturing cell scheduling problems. A newscheduling method based on sequence matrix of robot transport operation is proposed,machine processing is based on first come first serve rule（ FCFS）; Then,an improved genetic algorithm is proposed for this scheduling method,handling procedure code method and heuristic assignment strategy for genetic algorithm is designed,heuristic handling sequence adjustment algorithm is proposed; Finally,heuristic algorithm is combined with genetic algorithm to build hybrid algorithm to solve this scheduling problem,through the standard example calculation,verified the effectiveness of the algorithm.