关键词: 密集仓储系统, 堆垛机, 穿梭车, 出入库调度, 混合蚁群算法, 三维空间路径

Abstract: To improve the operation efficiency of stacker dense storage system,the hybrid ant colony algorithm was used to solve the problem of compound operation effectively in three-dimensional space path planning.In the case of stacker and Rail Guided Vehicle(RGV)configuration ratio of 1: 2,the actual scheduling path of stacker and RGV in three-dimensional space was analyzed,and the mathematical model was established by considering the acceleration in the process of motion.Aiming at the characteristics of system's compound operation,a three-dimensional heuristic function was designed to improve the probability of ant colony transition.The initial solution generated by genetic algorithm was transformed into the initial pheromone of ant colony algorithm.To avoid seeking the optimal parameter combination of ant colony algorithm for a large number of blind experiments,the parameters were optimized with particle swarm algorithm.The example showed that the proposed algorithm had better overall performance by comparing with the genetic and ant colony algorithm,and could effectively shorten the compound operation time of the stacker dense storage system and improve the efficiency of the loading/unloading.

Key words: dense storage system, stacker, rail guided vehicle, loading/unloading scheduling, hybrid ant colony algorithm, three-dimensional spatial path