| 宋栓军， 吕森.考虑能耗的多AGV系统路径冲突解决策略[J].轻工机械,2022,40(1):78-84 |
| 考虑能耗的多AGV系统路径冲突解决策略 |
| Path Conflict Resolution Strategy for Multiple AGV Systems Based on Energy Consumption |
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| DOI：10.3969/j.issn.1005 2895.2022.01.013 |
| 中文关键词: 多AGV系统 路径冲突 冲突消解模型 能耗均衡 |
| 英文关键词:multiple AGV systems path conflicts conflict resolution model energy consumption balancing |
| 基金项目:国家自然科学基金项目(72001166)；陕西省重点研发计划项目(2021GY 337)。 |
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| 中文摘要: |
| 针对多自动导航小车AGV系统路径规划中解决冲突时的部分耗电过快、能耗不平衡问题，课题组提出了一种基于能耗测算的AGV路径冲突解决策略优选方法。首先，对多AGV系统中各AGV的路径基于时间窗进行判定，在此基础上，建立了受负载和时间控制的能耗计算方法，并以系统能耗最低为目标构建AGV冲突消解模型；该模型在考虑AGV自身电量约束下预测各种消解措施下应对的能耗，最终优选出系统能耗最低的冲突解决策略；通过算例与传统冲突消解方式进行对比。研究结果表明：该解决策略可兼顾路径和系统能耗最优，完成任务的能耗较为均衡。该方法可以减少系统内的AGV的充电次数，提高多AGV系统的工作效率。 |
| 英文摘要: |
| In order to solve the problem of excessive power consumption and unbalanced energy consumption when resolving conflicts in multi AGV system path planning, an optimal method of AGV path conflict resolution strategy based on energy consumption calculation was proposed. Firstly, the path of each AGV in the multi AGV system was determined based on the time window. On this basis, an energy consumption calculation method controlled by load and time was established, and an AGV conflict resolution model was constructed with the goal of the lowest system energy consumption. The energy consumption of various resolution measures was prediced in consideration of the AGV′s own power constraints, and the conflict resolution strategy of the lowest system energy consumption was selected. Comparison with traditional conflict resolution methods was carreid out through calculation examples. The results show that the solution strategy can take into account the path optimization and system energy consumption, and the energy consumption to complete the task is more balanced. The proposed strategy can reduce the charging times of the AGV in the system and improve the working efficiency of the multi AGV system. |
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