时间窗约束下基于概率模型的AGV路径研究

Research on AGV Path Based on Probabilistic Model under Time Window Constraint

根据现代生产工艺的特点,结合AGV自动导引小车的路径规划技术,建立了带有时间窗约束的路径规划模型。文中针对到达时间窗约束,对超出时间窗到达的AGV给予一定的成本惩罚,采用小车固定成本、运行成本、到达时间惩罚成本的总成本最小作为最优化标准,得到AGV路径规划的最优解,并进行鲁棒优化。对于模型,文中采用遗传算法求解,并对随机规划法建立的预测模型和概率模型得到的最优路径的效能进行了综合比较。

According to the characteristics of modern production technology,combined with AGV technology of AGV path planning,established path planning model with time window constraints,according to the time constraints,given a penalty cost to go beyond the time window to AGV,the car fixed cost,operating cost,total cost to minimum time penalty cost as the optimization criteria,the optimal path planning of AGV solutions,and robust optimization. For the model,this paper uses genetic algorithm to solve the problem,and makes a comprehensive comparison of the efficiency of the optimal path between the prediction model and the probability model established by the stochastic programming method.