Reentry and reexit path planning method for automatic container wharf AGV with time window

Abstract

The invention discloses a reentry and reexit path planning method for an automatic container wharf AGV with a time window. According to the method, a time window-based reentry and reexit model is constructed in consideration of the sequence of loading and unloading of each container in an existing port, and a reentry and reexit AGV scheduling mode provides bidirectional container carrying of a quay crane and a storage yard, so the AGV no-load phenomenon in the container carrying process is effectively reduced, the working efficiency of the AGV is improved, and the labor intensity of workers isreduced; the loading and unloading process of the quay crane and the field bridge is simplified by using the time window, and decoupling of quay crane and field bridge loading and unloading and AGV transportation processes is facilitated. In addition, a genetic algorithm added with a penalty function is used, and the problem model can be well solved. According to the experimental result, for a series of known tasks, the method can solve the scheduling process meeting the reentry and reexit requirements on the premise of meeting the time requirement, transportation work of all containers can be conveniently completed within the shortest time, and therefore the efficiency of the wharf transportation link is improved.

Description

technical field [0001] The invention relates to a re-entry and re-exit path planning method for an automated container terminal AGV with a time window. Background technique [0002] In the field of automated container terminals, AGV (Automatic Guided Vehicle) is responsible for the container transportation between the ship loading and unloading area and the yard area, and plays a key role in the realization of terminal automation. [0003] Usually, the work of transporting containers from the berthing area to the storage yard is as follows: the AGV trolley loads the container in the loading and unloading area of ​​the quay bridge, transports it to the exchange area of ​​the storage yard through the planned route, and loads and unloads the container to the storage yard by the gantry crane. [0004] Correspondingly, transporting containers from the yard to the ship is a reverse process: the AGV trolley loads the container in the exchange area of ​​the yard, transports it to th...

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Problems solved by technology

[0006] The traditional path planning is based on the "single-entry-single-exit" scheduling mode design. After the AGV is transported to the yard each time, it will return to the quay bridge empty after unloading the container, which makes the utilization rate of the AGV low and affects the terminal. Efficiency of the transport link

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