Abstract: An Improved Wolf Pack Algorithm(IWPA)was proposed to solve the three-dimensional routing optimization problem for Autonomous Vehicle Storage and Retrieval Systems(AVS/RS)composite operation.According to the characteristics of storage and retrieval operations in the system,an encoding and decoding method which contained task allocation and three-dimensional route information for the rail-guided vehicles was conceived.The tabu list and the crowded degree factor were introduced into the IWPA,and the adaptive siege step was presented to avoid the algorithm to trap in local optimal solutions and increase the convergence of the IWPA in later stage.A series of simulations based on concrete living example of autonomous vehicle storage and retrieval systems were completed in a provincial verification center.The analysis result showed that the proposed IWPA had the characteristics of fast convergence and obtains the global optimal solution in the comparison of other algorithms.

Key words: autonomous vehicle storage and retrieval systems, improved wolf pack algorithm, three-dimensi-onal, routing optimization

摘要： 为了提高智能立体仓库的运转效率,提出了一种改进的人工狼群算法,利用该算法有效地解决了轨道小车存取系统复合作业三维空间路径优化问题。针对该系统出入库复合作业的特点,设计了一种包含轨道引导小车任务分配与三维空间路径信息的编码和解码方法;将禁忌表和拥挤度因子引入算法,并采用自适应围攻步长来避免算法陷入局部最优,同时加快算法的后期收敛速度。以某省级电能计量设备自动检定中心的AVS/RS系统为实例,将该算法与另外两种优化算法进行比较,结果表明该改进算法的收敛速度更快、优化率更高、得到的解最优。

关键词: 自动小车存取系统, 改进的人工狼群算法, 三维空间, 路径优化