Abstract: Rational cargo delivery sequence and collaborative operation between Rail Guide Vehicles (RGV) and stackers are the key issues to improve the material handling efficiency of 2-RGV system with circular rail in automated storage and retrieval system;Based on the analysis of the collision conditions of two RGVs on a circular rail,by taking the total storage time minimum as the objective,the constraints of single RGV delivery,collision avoidance of two RGVs,and collaborative operation of RGVs and stackers were considered to establish a mixed integer programming model for this problem,and a Hybrid Variable Neighborhood Tabu Search (HVNTS) algorithm was proposed.To verify the efficiency of the proposed algorithm,25 sets of instances of different sizes were given.In the numerical experiments,the results of HVNTS are compared with both the tabu search algorithm and the calculation results of CPLEX.The computational results showed that the average deviations of total retrieval time were 0.36% and 8.67% for all instances,and the computation times of HVNTS on all instances were within 3 minutes.Computational results also showed that the proposed HVNTS could solve this problem quickly and efficiently.

Key words: automated storage and retrieval system, 2-RGV system with circular rail, mixed integer linear programming model, hybrid variable neighborhood tabu search algorithm

摘要： 确定合理的货物运送序列,实现穿梭车(RGV)与堆垛机协同作业是提升自动化立体仓库中环形2-RGV系统搬运效率的重要手段。通过对RGV在环形轨道运作环境下的碰撞情况进行分析,以货物总入库时间最小化为目标,考虑了同一辆RGV运送、两RGV碰撞避免以及RGV与堆垛机协同运作等约束,构建了环形2-RGV系统入库调度问题的混合整数规划模型,设计了可快速求解问题的混合变邻域禁忌搜索(HVNTS)算法。为验证算法的有效性,设计了25组不同规模的算例,并将HVNTS算法的求解结果与CPLEX和禁忌搜索算法的求解结果相比较,算例实验结果表明:货物的平均入库时间分别节省了0.36%和8.67%,且HVNTS算法的求解时间均在3 min内,证明所提算法能快速有效地求解该问题。

关键词: 自动化立体仓库, 环形2-RGV系统, 混合整数规划模型, 混合变邻域禁忌搜索算法