关键词: 多机器人存取系统, 动态调度, 实时调度, 重调度规则

Abstract: Aiming at the problem of high real-time requirements and easy schedule deviation when dynamic events occur,a dynamic scheduling approach to Robotic Mobile Fulfillment System (RMFS) was proposed.Characteristics of dynamic events in RMFS were analyzed.The consequences of different dynamic events and the effects of scheduling were determined.A mathematical model aiming to minimize the total completion time was presented.A dynamic scheduling approach was used to realize pre-scheduling of real-time orders arriving and rescheduling after dynamic events in RMFS.According to the different effects of dynamic events,the rescheduling rules with occurrence of dynamic events were established.The dynamic scheduling approach could promptly respond to dynamic events such as urgent orders and robot failures.Compared with traditional approach,the solution was obtained by dynamic scheduling approach with shorter total completion time and path length.After failure time re-schedule affected autonomous vehicle had less impact on the re-scheduling result.

Key words: robotic mobile fulfillment system, dynamic scheduling, real-time scheduling, rescheduling rules