基于速度控制的自动化码头AGV无冲突路径规划

Free-conflict AGV Path Planning in Automated Terminals Based on Speed Control

随着劳动力成本的上升,提高码头效率成为港口发展的关键。自动引导车(AGV)是自动化码头水平运输的主要设备,但其作业过程中的冲突、拥堵、等待等问题日益突出,降低了码头的运作效率。以最小化AGV在岸桥和场桥之间的行驶距离为目标建模,选择最优行驶路径。通过检测AGV的重叠率和冲突时间,遵循先到先服务的原则,采用速度控制策略,实现AGV无冲突路径规划。仿真实验表明,该方法能有效降低AGV冲突的概率,减少岸桥和场桥设备的等待时间,提高AGV的作业效率,实现作业成本的最小化。

With the increase of labor cost,improving the efficiency of terminalshas been the key in development of ports.Automatic guided Vehicles(AGV),as the main equipmentof automatedterminalsin horizontal transportation,the problems of conflict,congestion and waiting have been more serious,which greatly reducing the operation efficiency of the terminals.This paper modeled with the minimum driving distance of AGV between the QCs and YCs,to choose the optimal path.By testing the overlapping rate and the conflict time,and using the speed control strategy,which follow the rule of first come first service,the path planning of free-conflict AGV is achieved.The simulation results show that this method can reduce the probability of AGV conflicteffectively,decrease the waiting time of QCs and YCs,improve the operationefficiency of AGV,and minimize the totalcost of operation.