关键词: 自动导引小车, 自动化分拣仓库, 调度, 路径规划, 差分进化算法

Abstract: The automated sorting warehouses are operated by multiple AGVs simultaneously,which can quickly sort a large number of packages.How to determine the handling package sequence for AGVs and plan the conflict-free path is the key to the sorting operation.In order to improve sorting efficiency,aiming at minimizing the maximum handling completion time,firstly,the priority of the conflicting AGVs is defined and a path planning algorithm for generating a conflict-free path is proposed.Furthermore,considering the AGV scheduling and path planning comprehensively,an improved differential evolution algorithm is proposed,the algorithm generates the initial population based on the opposition-based learning,uses adaptive mutation and crossover probabilities to evolve individuals,a dynamic differential evolution strategy is designed to improve the convergence speed,the exchange neighborhood and the insertion neighborhood based on the key AGV are designed for local search.The effectiveness of the algorithm is verified by data experiments,and the key parameters are analyzed.

Key words: automated guided vehicle, automated sorting warehouse, scheduling, path planning, differential evolution algorithm