A re-entry and re-exit path planning method for automatic container terminal AGV with time window

Abstract

The invention discloses a re-entry and re-exit path planning method for an automated container terminal AGV with a time window. This method takes into account that each container in the port will have a sequence when loading and unloading, and constructs a re-entry and re-exit model based on a time window. The re-entry and re-exit AGV scheduling mode provides two-way container transportation between the quay bridge and the yard, effectively Reduce the phenomenon of AGV empty load in the process of container transportation, improve the working efficiency of AGV, use the time window to simplify the loading and unloading process of quay crane and yard bridge, and help realize the decoupling of quayside crane, yard bridge loading and unloading and AGV transportation process. In addition, the present invention uses a genetic algorithm added with a penalty function, which can better solve the problem model. From the experimental results, for a series of known tasks, the method of the present invention can solve the scheduling process that satisfies the re-entry and re-exit under the premise of meeting the time requirements, so as to facilitate the completion of the transportation of all containers in the shortest time, thereby improving the efficiency of the terminal. Efficiency of the transport link.

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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