Computer Engineering and Applications ›› 2020, Vol. 56 ›› Issue (6): 246-253.DOI: 10.3778/j.issn.1002-8331.1812-0069

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Multi-Resource Coordinated Scheduling of Automated Terminals Considering AGV Collision Avoidance

YANG Yajie, CHANG Daofang, YU Fang   

  1. Institute of Logistics Science and Engineering, Shanghai Maritime University, Shanghai 201306, China
  • Online:2020-03-15 Published:2020-03-13



  1. 上海海事大学 物流科学与工程研究院,上海 201306


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



关键词: 协同调度, AGV避碰, 混合整数规划