Heavy-load AGV scheduling method and device, terminal and storage medium

Abstract

The embodiment of the invention provides a heavy-load AGV scheduling method and device. The method comprises the steps: initializing a swarm, and determining the initial flight speed of a queen bee and the crossover probability of the queen bee and a drone; if the crossover probability is greater than a genetic threshold, storing the genes of the drone into a fertilization bag of the queen bee andreducing the real-time flight speed of the queen bee; if the real-time flight speed of the queen bee is reduced to the minimum flight speed of the queen bee or the seminal vesicle of the queen bee isfull, performing cross iteration on the genes of the drone in the fertilization vesicle and the genes of the queen bee to generate filial generation individuals; improving all filial generation individuals by worker bees, sorting all the improved filial generation individuals from large to small according to fitness values, and if the maximum fitness value is equal to a fixed value, determining that the filial generation corresponding to the maximum fitness value is a heavy-load AGV scheduling sequence. According to the heavy-load AGV scheduling method and device provided by the embodiment ofthe invention, the problem that the scheduling duration is not fully optimized due to premature convergence of the algorithm in the scheduling process is avoided.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of vehicle control, and in particular to a heavy-load AGV scheduling method, equipment, terminal and storage medium. Background technique [0002] In the automated container port, heavy-duty AGVs are used for horizontal transshipment of containers. Heavy-duty AGV (Automated Guided Vehicle, that is, heavy-duty intelligent transport vehicle) is equipped with an automatic guidance device, which can automatically drive along the specified path and automatically avoid obstacles. It has a high degree of intelligence, high work efficiency, and The advantages of the system, such as strong controllability and good safety, have played an important role in improving the overall operating efficiency of the port and reducing the cost of human resources. In order to further improve the economy of heavy-duty AGV operations and reduce the overall energy consumption of the fleet, it is necessary to...

AI Technical Summary

Problems solved by technology

[0003] With the expansion of the port scale, dozens or even hundreds of heavy-duty AGVs are required, and the scheduling work becomes very complicated. The relevant algorithm path planning takes a long time, and it is prone to search stop and premature convergence, and heavy-duty AGVs may occur Scheduling starts when the scheduling scheme does not reach the optimal state, resulting in a long scheduling time

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