仓储作业中多搬运机器人动态路径优化
Dynamic Path Planning for Multi-Robot in Warehousing Operations
DOI: 10.12677/AIRR.2019.82009, PDF,   
作者: 王鑫淼：北京交通大学经济管理学院，北京
关键词: 多搬运机器人；路径规划；时间窗；两阶段；动态；Multi-Handling Robot； Path Planning； Time Window； Two-Stage； Dynamic
摘要: 搬运机器人在无人仓的“货到人”拣选系统中得到了广泛应用，然而多个搬运机器人协同作业还存在着路径寻优规划不合理、路径冲突等问题。考虑路径的负载平衡及搬运机器人转弯耗费的时间，建立了带有时间窗的多搬运机器人路径规划模型；结合调整优先级的避障策略，提出了一种改进的“离线–在线”两阶段动态路径规划算法，实现全局离线路径规划和在线冲突规避，提升了无人仓系统的运行效率。最后，设计三组仿真实验，通过对比搬运机器人的总运行时间，验证了改进算法的有效性。
Abstract: Handling robots have been widely used in the picking system of “part-to-picker” in un-manned warehouse. However, there are still problems such as unreasonable path seeking planning and path conflict in the collaborative operation of multi-handling robot. Considering the load balance of the path and the turning time of the handling robot, the path planning model of the multi-handling robot with time window is established. Combined with the obstacle avoidance strategy of adjusting the priority, an improved “offline-online” two-stage dynamic path planning algorithm was proposed to realize the combination of global off-line path planning and online conflict avoidance, thus improving the operation efficiency of the un-manned warehouse system. Finally, three sets of simulation experiments are designed to verify the effectiveness of the improved algorithm by comparing the total running time of the handling robots.
文章引用：王鑫淼. 仓储作业中多搬运机器人动态路径优化[J]. 人工智能与机器人研究, 2019, 8(2): 68-82. https://doi.org/10.12677/AIRR.2019.82009

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