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

摘要： 针对跨层跨巷道穿梭车仓储系统复合作业路径优化问题,分析了穿梭车搭配转载车和提升机在仓库中运作的跨层、不跨层跨巷道、不跨层不跨巷道3种存取货作业形式,以及换层提升机、巷道转载车和穿梭车在系统中的实际调度路径,考虑其运动过程中的加、减速特性建立了相应的数学优化模型。提出改进的人工蜂群算法,有效解决了跨层跨巷道穿梭车仓储系统的复合三维作业路径优化问题。实验表明,与基本人工蜂群算法、遗传算法、改进人工鱼群算法、改进蚁群算法相比,所设计的人工蜂群算法在求解精度、运算速度方面更具优势,在不同作业任务量下能够有效提高跨层跨巷道穿梭车仓储系统的进出库作业效率。

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