多约束条件下的无轨胶轮车路径规划算法研究

Research on route planning algorithms for trackless rubber wheeled vehicles with multiple constraints

针对无轨胶轮车调度中存在的效率低、不合理等问题,基于传统节约算法增加约束条件,研究了多约束条件下煤矿无轨胶轮车的任务优化以及最短路径规划。通过将传统节约算法的单类型车辆约束改进为多类型车辆,提高了车辆的利用率,降低了车辆的使用成本;提出时间窗约束,提高了胶轮车到达的正点率,改善了人工处理调度作业中存在各种不确定因素而导致的车辆晚点,避免引发一系列不必要的事故;提出货物类型约束,提高了车辆的实载率,改善了“一车一用”的情况;提出最大行驶里程约束,提高了胶轮车运行安全保障,改善了井下的行车环境。采用陕西大海则煤矿胶轮车配送的实际算例,对提出的多约束条件下节约算法进行了实验,算例结果对比表明,在经过多约束条件下节约算法处理后,车辆平均实载率达到90%以上。现场应用结果表明,该方案可以提高胶轮车的配送效能,优化车辆任务,还可以有效地节约成本,满足煤矿现场应用需求。

Aiming at the existing problems of low efficiency and unreasonableness in trackless rubber wheeled vehicle dispatching,and considering the advantages of traditional mileage saving method,such as fast operation,convenience and flexibility,research on task optimization and shortest path planning of coal mine trackless rubber wheeled vehicles under multiple constraints by adding constraints based on traditional conservation algorithms was investigated.By improving single-type vehicle restriction of traditional saving algorithm to multiple-type vehicle,the utilization rate of vehicles was improved and the cost of using vehicles was reduced.The time window constraint was put forward,which improved the arrival punctuality rate of rubber-wheeled vehicles,improved the uncertainties in manual processing and dispatching operations,and caused vehicle delays,so as to avoid a series of unnecessary accidents.The restriction of cargo type was put forward,which improved the actual load rate of vehicles and the situation of"one vehicle for one use".The maximum driving mileage constraint was put forward,which improved the safety and security of rubber-wheel vehicle operation and improved the driving environment in underground.The actual calculation example of Dahaize Coal Mine in Shaanxi Province was used to test the improved saving algorithm.The comparison of calculation results shows that after being processed by the algorithm under multiple constraint conditions,the average actual load rate of the vehicle reached over 90%.The on-site application results show that this scheme can improve the delivery efficiency of rubber wheel vehicles,optimize vehicle tasks,and effectively save costs to meet the on-site application needs of coal mines.