摘要
针对大型自动化立体仓库出入库路径优化调度难的问题,在采用两端式双堆垛机出入库调度模型的基础上,提出改进的防碰撞原则,避免两堆垛机同时运行时碰撞;并结合最优防碰撞边界检验机制,在保证防碰撞的前提下,为两堆垛机划分了最佳的工作区域。提出一种新型改进遗传算法(New improved genetic algorithm,NIGA),能够根据种群适应度值的集中分散程度,来调整遗传算法的进化结构,从而有效提高算法的收敛速度以及跳出局部最优的能力。运用NIGA算法对双堆垛机的调度路径进行优化,并在算法的每一次迭代中嵌入改进的防碰撞原则和最优防碰撞边界检验机制,最终得到两端式双堆垛机出入库优化的最优解。仿真实验结果表明该策略可以有效防止两堆垛机发生碰撞,大型立体仓库货物出入库的效率有了明显提高。
Since optimizing the scheduling of the storage and retrieval path of large‑scale automated warehouses is difficult,based on the storage and retrieval scheduling model of dual‑end double stacker cranes,an improved anti-collision principle is proposed to avoid collisions when dual stackers are running at the same time.The optimal anti-collision boundary inspection mechanism is used to divide the best working area for the two stackers.An improved genetic algorithm(NIGA)is proposed to adjust the evolution structure of the genetic algorithm according to the degree of concentration and dispersion of the population fitness value.Thereby it can effectively improve the convergence speed and break the limit of the local optimum.The NIGA algorithm is used to optimize the scheduling path of the dual stackers,and the improved anti-collision principle and the optimal anti-collision boundary inspection mechanism are embedded in each iteration of the algorithm.Finally,the optimal solution of the two-end dual stacker warehousing is obtained.Simulation results show that this strategy can effectively prevent the collision of two stackers,and significantly improve the efficiency of goods in and out of large warehouses.
作者
耿赛
王雷
李东东
GENG Sai;WANG Lei;LI Dongdong(School of Mechanical Engineering,Anhui Polytechnic University,Wuhu 241000,China)
出处
《南京航空航天大学学报》
CAS
CSCD
北大核心
2022年第6期1159-1168,共10页
Journal of Nanjing University of Aeronautics & Astronautics
基金
安徽省高校优秀拔尖人才培育项目(gxbjZD2022023)
安徽工程大学检测技术与节能装置安徽省重点实验室开放研究项目(JCKJ2021A06)
安徽工程大学-鸠江区产业协同创新专项基金(2022cyxtb6)
安徽省高校自然科学重点科研项目(2022AH050978,KJ2019A0147)
芜湖市科技计划(2022jc26)
安徽工程大学科研启动基金(2022YQQ002)。
关键词
自动化立体仓库
双堆垛机
改进防碰撞策略
改进遗传算法
automated warehouse
double stacker
improved anti-collision strategy
improved genetic algorithm
