AGV obstacle avoidance scheduling method based on multi-population hybrid intelligent algorithm

Abstract

The invention discloses an AGV obstacle avoidance scheduling method based on a multi-population hybrid intelligent algorithm, and belongs to the technical field of automatic stereoscopic warehouse scheduling. In order to solve a mathematic programming model of which the total work time is minimum under the condition that ensuring no physical collision and damage when multiple AGVs work at the sametime, the invention provides a multi-population hybrid intelligent algorithm combining an ant colony algorithm and a genetic algorithm, and the multi-population hybrid intelligent algorithm can utilize the advantages of the two heuristic intelligent algorithms, and the algorithm can be prevented from falling into premature too early to a certain extent; and since both the genetic algorithm and the ant colony algorithm are common heuristic intelligent algorithms, and theories of the genetic algorithm and the ant colony algorithm are mature, the hybrid algorithm formed by combining the geneticalgorithm and the ant colony algorithm not only has theoretical innovation, but also can improve the solving efficiency of actual problems, and blindness of an iterative process is reduced.

Description

technical field [0001] The invention belongs to the technical field of automatic three-dimensional warehouse scheduling, and in particular relates to an AGV obstacle avoidance scheduling method based on a multi-group mixed intelligent algorithm. Background technique [0002] With the development of modern industry and information service industry, human capital is becoming more and more precious, and people are increasingly aware of the importance of warehousing, freight and other logistics links to improve product profits. According to data, logistics, transportation and other links account for more than 50% of the cost of the entire manufacturing enterprise. Therefore, improving the efficiency of storage and transportation and giving full play to the performance advantages of the site have become the focus of major companies competing for development. [0003] The automated three-dimensional warehouse is an important part of the modern logistics system. The degree of intel...

AI Technical Summary

Problems solved by technology

[0004] In actual work, the various supporting facilities in the automated three-dimensional warehouse often come from different manufacturers, and it is difficult to directly cooperate with each other during use.

For example, when multiple AGVs cooperate with each other, each AGV does not have the avoidance function, which makes it impossible to ensure that multiple AGVs can work effectively and normally at the same time

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