关键词: 无人仓库, 多目标, 能耗控制, Bezier曲线, 路径规划, 自动导引车

Abstract: To reduce the energy consumption,improve the working efficiency of Automated Guided Vehicle(AGV) and promote the high-efficiency operation of the unmanned warehouses,a two-stage global routing planning method was proposed.In the primary stage,a multi-objective function model targeting to acquire the shortest and smoothest routing was established.By adopting the improved quantum particle swarm optimization algorithm,a feasible path which conformed to the constraint and features discontinuous curvature was obtained.In the second stage,according to the Bezier curve and the smoothness constraint,the initial path fitting correction obtained in the first stage was obtained,and a geometric continuous path with small speed variation and low energy consumption was obtained.The simulation results showed that the routing presented by two-stage planning method could improve the efficiency of AGV and decrease the energy consumption.While compared with the conventional algorithm,the improved algorithm had a significant improvement in terms of time and accuracy.

Key words: unmanned warehouse, multi-objective, energy consumption, Bezier curve, routing planning, automated guided vehicle