配送中心AGV系统路径优化技术研究

发布时间：2018-01-05 11:35

本文关键词：配送中心AGV系统路径优化技术研究　出处：《沈阳航空航天大学》2014年硕士论文　论文类型：学位论文

【摘要】：随着中国经济的快速发展，物流业作为经济增长的“加速器”，越来越受到人们的重视，被誉为“第三利润源泉”。与欧美等发达国家不同，我国的物流业仍存在着人工作业繁重、自动化程度较低的现象。因此，迫切需要尽快加强建设信息化、现代化的新型物流配送中心。自动导引车（AGV）是现代化配送中心的重要组成部分，能够有效的提高工作效率。我国应尽快掌握各种AGV的核心技术，特别是比较先进的智能控制技术。只有增强自主研发能力才能降低AGV的制造成本，，实现AGV在我国各行业的普及应用。本课题以自动导引小车(AGV)的路径规划技术为主要研究内容，根据配送中心路径的对称特点和混合双向多排的车道特点，提出了一种基于配送中心已知环境地图的AGV动态路径规划方法。利用混沌序列的随机遍历特性改进粒子群算法（PSO），规划从起始位置到目标位置的最短路径，建立离线路径规划表。根据AGV工作量均衡、剩余电量情况、距离大小等因素，将出库、入库运输任务分配给AGV。上位机将按照各台AGV的任务表依次规划运输路径。路径规划首先要调用离线路径规划表，然后根据该AGV与其他AGV是否有路径冲突、是否有突发的路段堵塞等情况进行快速的几何微调。利用Matlab进行仿真，实验结果表明算法是可行的、高效的。不但实现了多台AGV无碰撞路径规划，还能够均衡工作量、合理安排充电时间，使AGV能够长时间保持工作效率，为配送中心的服务质量提供了保证。
[Abstract]:With the rapid development of China ' s economy , the logistics industry , as the " accelerator " of economic growth , has been paid more and more attention by people as the " third profit source " . In contrast to developed countries such as the United States and America , China ' s logistics industry still has the phenomenon of heavy manual operation and low automation degree . Therefore , it is urgent to strengthen the core technology of various AGV as soon as possible , especially the advanced intelligent control technology . Only by enhancing the independent R & D capability can the manufacturing cost of AGV be reduced , and the popularization and application of AGV in all industries in China should be realized . Based on the symmetry characteristics of the distribution center path and the characteristics of the two - way multi - row lane , the paper presents an AGV dynamic path planning method based on the distribution center ' s known environment map . By using the random ergodic characteristics of the chaotic sequence , the shortest path from the starting position to the target position is proposed , and the off - line path planning table is established . According to the load balance of AGV , the surplus electric quantity condition and the distance size , an off - line path planning table is established . The simulation results show that the algorithm is feasible and efficient . It not only realizes the planning of multiple AGV without collision path , but also can balance the workload and reasonably arrange the charging time , so that the AGV can maintain the working efficiency for a long time and guarantee the service quality of the distribution center .

【学位授予单位】：沈阳航空航天大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U116.2

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