Abstract:

In order to solve the collision problem of AGVs during the coordinated scheduling among three resources of quay crane, AGV and yard crane, this research considers the task allocation and AGV collision avoidance constraints, and establishes a mixed integer programming model, which aims to minimize the maximum completion time of all tasks. This research sets the compatible and conflicting phases for the intersections, and assumes the AGVs in the compatible phase can pass the intersection simultaneously. The comparison experiments with and without the collision avoidance rules are analyzed. It is verified that the proposed model which considers the collision avoidance rule can effectively reduce the number of collisions, realizes the collision avoidance of AGVs which are in compatible phases, optimizes the scheduling results, and improves the efficiency of the whole operation process.

Key words: coordinated scheduling, AGV collision avoidance, mixed integer programming

摘要：

为解决自动化码头岸桥、AGV、场桥三个资源协同调度中AGV的路口碰撞问题，考虑任务分配、AGV的避碰约束，建立一个所有任务最大完工时间最小化为目标的混合整数规划模型。通过设置路口的相容和冲突相位，使处于相容相位的AGV可以同时通过。对考虑避碰规则和不考虑避碰规则的实验数组进行分析，比较其解的优劣性。实验结果表明在考虑避碰规则下的AGV能有效减少冲突次数，实现相容相位小车的避碰，使调度结果更优化，提高整个作业流程的效率。

关键词: 协同调度, AGV避碰, 混合整数规划