关键词: 多载量自动导引小车, 调度, 路径规划, 协同优化, 自动分拣仓库

Abstract: In an automatic sorting warehouse,the multi-load AGV has strong transportation capacity,but its multi-load characteristic also increases the complexity of scheduling and routing.Aiming at the collaborative optimization problem of multi-load AGVs scheduling and routing,a mixed integer linear programming model was established with the goal of minimizing the maximum handling completion time.Then,a Clustering-Collaborative Optimization Algorithm (CCOA) was proposed.Firstly,the package similarity was defined,and a clustering algorithm was designed to divide the packages into several groups,so that the packages contained in each group could be sorted by a multi-load AGV in one operation trip.Furthermore,according to the multi-decision characteristics of the problem,a Co-evolutionary Genetic Glgorithm (CGA) was designed to assign and sort the divided groups,and the conflict-free routing algorithm designed was embedded in CGA to search the optimal route and resolve the conflicts between multiple AGVs,so as to achieve the collaborative optimization of multi-load AGVs scheduling and routing.Extensive simulation experiments with different problem scales were carried out to verify the efficiency and stability of the proposed algorithm.

Key words: multi-load automated guided vehicle, scheduling, routing, collaborative optimization, automatic sorting warehouse