关键词: 跨层跨巷道, 穿梭车, 转载车, 路径规划, 复合作业, 人工蜂群算法

Abstract: Aiming at the problem of compound operations path optimization of tier-to-tier and aisle-to-aisle shuttle based storage and retrieval system,the tier-to-tier and asile-to-tier,non-tier-to-tier and asile-to-tier,non-tier-to-tier and non-asile-to-tier three kinds of storage and retrieval operation forms of shuttle vehicles combined with transfer vehicle and lift were analyzed.The actual scheduling paths of the layer-changing lifts,the roadway transfer vehicle and the shuttle in the system were also analyzed,and the corresponding mathematical optimization model was established by considering the speed characteristics of addition and subtraction during the movement process.An improved artificial bee colony algorithm was proposed,which effectively solved the compound 3D operation path optimization problem of the tier-to-tier and aisle-to-aisle shuttle based storage and retrieval system.Through experiments,the designed artificial bee colony algorithm had advantages in solution accuracy and computing speed compared with basic artificial bee colony algorithm,genetic algorithm,improved artificial fish swarm algorithm and improved ant colony algorithm.It could effectively improve the efficiency of the in and out operation of the  tier-to-tier and aisle-to-aisle shuttle based storage and retrieval system.

Key words: tier-to-tier and aisle-to-aisle, shuttle, transfer vehicle, path planning, compound operations, artificial bee colony algorithm