在环境复杂的柔性制造系统中进行合理地AMR(autonomous mobile robot)调度具有重要意义。针对AMR调度中的路径规划与任务分配,以最小化AMR完成任务时间为目标函数建立数学模型,并通过拓扑法进行地图建模;采用贪婪算法对间隔时间服从定...在环境复杂的柔性制造系统中进行合理地AMR(autonomous mobile robot)调度具有重要意义。针对AMR调度中的路径规划与任务分配,以最小化AMR完成任务时间为目标函数建立数学模型,并通过拓扑法进行地图建模;采用贪婪算法对间隔时间服从定长分布的订单进行任务分配,通过对AMR工作状态分类以减少算法运算量;基于Dijkstra算法进行全局路径规划,搜索AMR的全局最短路径,并通过AMR的激光雷达进行局部避障路径规划;最后,通过在openTCS平台进行调度仿真实验验证其有效性。展开更多
Dear Editor,This letter presents a coverage optimization algorithm for underwater acoustic sensor networks(UASN)based on Dijkstra method.Due to the particularity of underwater environment,the multipath effect and chan...Dear Editor,This letter presents a coverage optimization algorithm for underwater acoustic sensor networks(UASN)based on Dijkstra method.Due to the particularity of underwater environment,the multipath effect and channel are easily disturbed,resulting in more node energy consumption.Once the energy is exhausted,the network transmission stability and network connectivity will be affected.展开更多
文摘在环境复杂的柔性制造系统中进行合理地AMR(autonomous mobile robot)调度具有重要意义。针对AMR调度中的路径规划与任务分配,以最小化AMR完成任务时间为目标函数建立数学模型,并通过拓扑法进行地图建模;采用贪婪算法对间隔时间服从定长分布的订单进行任务分配,通过对AMR工作状态分类以减少算法运算量;基于Dijkstra算法进行全局路径规划,搜索AMR的全局最短路径,并通过AMR的激光雷达进行局部避障路径规划;最后,通过在openTCS平台进行调度仿真实验验证其有效性。
基金supported by the Natural Science Foundation of Shandong Province(ZR2022MF247)。
文摘Dear Editor,This letter presents a coverage optimization algorithm for underwater acoustic sensor networks(UASN)based on Dijkstra method.Due to the particularity of underwater environment,the multipath effect and channel are easily disturbed,resulting in more node energy consumption.Once the energy is exhausted,the network transmission stability and network connectivity will be affected.