关键词: 子母穿梭车, 三维路径规划, 密集仓储系统, 混合智能水滴算法, 布谷鸟算法, 碳排放

Abstract: To improve the operating efficiency of the dense storage system of the shuttle combined vehicles,the three-dimensional path planning problem of the dense storage system was studied.To reduce the carbon emissions of the equipment entering and leaving the warehouse during the compound operation,the carbon emission cost factors were considered in the three-dimensional path planning of composite operations,the taxation cost of greenhouse gas units was introduced into the model,a dual-objective scheduling optimization model for carbon emission costs and equipment operating time was established.In solving the three-dimensional path planning optimization mathematical model,a hybrid intelligent water drop algorithm was designed.The case study showed that the proposed hybrid intelligent water drop algorithm had better global search ability and faster convergence speed than intelligent water drop algorithm and cuckoo algorithm,and could effectively reduce the carbon emission cost of equipment in compound operation,optimize three-dimensional space path,and improve  the efficiency of storage.

Key words: shuttle combined vehicles, three-dimensional path planning, dense storage system, hybrid intelligent water drop algorithm, cuckoo algorithm, carbon emissions