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

摘要： 自动导引小车（AGV）作为一种智能搬运设备已广泛应用于仓储物流等领域,为解决传统充电方式充电时间过长影响工作效率的问题,提出了动态和静态无线充电相结合的充电方式,在AGV工作路径上铺设无线充电线圈,可使AGV连续不间断工作。为更加经济地铺设无线充电站,提出考虑充电路径的无线充电系统双层规划模型,上层模型构建了无线充电站最低建设成本的优化配置模型,对无线充电站的位置、充电功率、储能装置容量等进行协调优化;下层模型为考虑无线充电的路径规划模型,采用改进的A*算法优化AGV的充电路径。最后通过遗传算法对整体模型进行求解,并对充电桩驻点充电和无线充电两种充电方式进行了对比,结果表明无线充电可有效节约充电时间,有利于提高AGV的工作效率。

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