| 摘 要: 本文结合最优路径算法、时间窗、冲突处理策略,提出一种基于结点时间窗修改初始路径的多 AGV(Automated Guided Vehicle)调度的方法。该方法适用于路径选择少,对备用路径选择依赖性小的情况。本文首先 运用A*算法进行静态初始路径规划,结合时间窗进行冲突预判,在结点采用“时间点+固定时间片”进行路径结点时间 窗更改,提高了路径使用效率;然后,在初始路径上依据冲突类型修改或添加结点及时间窗。最后,通过仿真实验,验 证了本文提出的方法可以减少实时运算的负担且提高了长路段的利用效率。 |
| 关键词: 时间窗;调度策略;路径规划;结点时间点;初始路径修改 |
|
中图分类号: TP391.7
文献标识码: A
|
|
| A Novel Scheduling Method of Modifying the Initial Path based on Node Time Window |
|
QIU Tingxiu, NI Xinyuan, YU Lu, DOU Wanfeng
|
(School of Computer Science and Technology, Nanjing Normal University, Nanjing 210023, China)
1430273936@qq.com; 821787886@qq.com; 897741680@qq.com; douwanfeng@njnu.edu.cn
|
| Abstract: Based on optimal path algorithm, time window and conflict elimination strategy, this paper proposes a multi-AGV (Automated Guided Vehicle) scheduling method which modi es the initial path based on node time window. This method is suitable for the case of less path selection and less dependence on alternative path selection. Firstly an algorithm, namely A*, is used to gain a static initial path for a task combined with time window for con ict prediction, and "time point + xed time slice" is used to change time window of the node with time con icts. Then, on the initial path, nodes and time windows are added or altered according to con icting types. Finally, the simulation results show that this scheduling method can reduce the burden of real-time operation and improve the utilization ef ciency of long road sections. |
| Keywords: time window; scheduling strategy; path planning; node time; initial path modification |
