关键词: 自动化分拣仓库, 自动导引小车, 在线协同调度, 任务指派, 路径规划

Abstract: Aiming at the collaborative scheduling problem of multi-Automated Guided Vehicle (AGV) task dispatching and routing in automated sorting warehouse under the real-time dynamic environment,a mixed integer linear programming model for minimizing the weighted total handling completion time was established,and an online collaborative scheduling algorithm combining the advantages of centralized decision-making and decentralized decision-making strategies named Multi-AGV Online Collaborative Scheduling Algorithm(MAOCSA) was proposed.The algorithm coordinated the global information of the warehouse system in real time through centralized decision-making strategy and treats each AGV as an agent.The real-time warehouse information and determines handling tasks and conflict-free routes were received by each AGV autonomously based on the decentralized decision-making strategy.To support AGV decision-making,a dispatching algorithm based on priority rules and a conflict-free routing algorithm based on Grid Blocking Degree (GBD) was designed,which realized the collaborative optimization of multi-AGV task dispatching and routing,and solved the conflict and congestion among multiple AGVs.Extensive computational experiments with various problem scales were carried out,and the results showed that the MAOCSA was effective in solving the studied problem.

Key words: automated sorting warehouse, automated guided vehicle, online collaborative scheduling, task dispatching, routing planing