一种基于结点时间窗修改初始路径的调度方法

A Novel Scheduling Method of Modifying the Initial Path based on Node Time Window

本文结合最优路径算法、时间窗、冲突处理策略,提出一种基于结点时间窗修改初始路径的多AGV(Automated Guided Vehicle)调度的方法。该方法适用于路径选择少,对备用路径选择依赖性小的情况。本文首先运用A*算法进行静态初始路径规划,结合时间窗进行冲突预判,在结点采用"时间点+固定时间片"进行路径结点时间窗更改,提高了路径使用效率;然后,在初始路径上依据冲突类型修改或添加结点及时间窗。最后,通过仿真实验,验证了本文提出的方法可以减少实时运算的负担且提高了长路段的利用效率。

Based on optimal path algorithm, time window and conflict elimination strategy, this paper proposes a multi-AGV(Automated Guided Vehicle) scheduling method which modifies the initial path based on node time window. This method is suitable for the case of less path selection and less dependence on alternative path selection. Firstly an algorithm, namely A*, is used to gain a static initial path for a task combined with time window for conflict prediction, and "time point +fixed time slice" is used to change time window of the node with time conflicts. Then, on the initial path, nodes and time windows are added or altered according to conflicting types. Finally, the simulation results show that this scheduling method can reduce the burden of real-time operation and improve the utilization efficiency of long road sections.