关键词: 自动导引小车, 双层规划模型, 静态无线充电, 动态无线充电, 改进A*算法, 遗传算法

Abstract: As a kind of intelligent handling equipment,Automated Guided Vehicle (AGV) has been widely used in the fields of warehousing and logistics.To solve the problem that too long charging time of the traditional charging mode affected the working efficiency,a charging method combining dynamic and static wireless charging was proposed.The wireless charging coil was laid on the working path of the AGV,which could make its work continuously and uninterruptedly.To lay the wireless charging station more economically,a bi-level programming model of the wireless charging station considering the charging path was proposed.An optimal configuration model for the minimum construction cost of wireless charging stations was built by the upper-level model,which coordinated and optimized the location,charging power and energy storage device capacity of wireless charging stations.The lower model was a path planning model considering wireless charging,which used the improved A* algorithm to optimize the charging path of the AGV.The genetic algorithm was used to solve the model,and the two charging methods of charging pile stagnant charging and wireless charging were compared.The results showed that the wireless charging could effectively save the charging time,which was beneficial to improve the work efficiency of the workshop.

Key words: automated guided vehicle, bi-level programming model, static wireless charging, dynamic wireless charging, improved A* algorithm, genetic algorithms