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[1]沈博闻,于宁波,刘景泰.仓储物流机器人集群的智能调度和路径规划[J].智能系统学报,2014,9(6):659-664.[doi:10.3969/j.issn.1673-4785.201312048]
　SHEN Bowen,YU Ningbo,LIU Jingtai.Intelligent scheduling and path planning of warehouse mobile robots[J].CAAI Transactions on Intelligent Systems,2014,9(6):659-664.[doi:10.3969/j.issn.1673-4785.201312048]

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仓储物流机器人集群的智能调度和路径规划

《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 9 期数: 2014年第6期页码: 659-664 栏目: 学术论文—智能系统出版日期: 2014-12-25

Title:: Intelligent scheduling and path planning of warehouse mobile robots

作者:: 沈博闻^1,2, 于宁波¹, 刘景泰¹; 1. 南开大学机器人与信息自动化研究所, 天津 300071;
2. 美国纽约州立大学布法罗分校

Author(s):: SHEN Bowen^1,2, YU Ningbo¹, LIU Jingtai¹; 1. Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin 300071;
2. Department of Computer Science and Engineering, University at Buffalo

关键词:: 仓储物流; 移动机器人; 智能调度; 路径规划; A^*算法

Keywords:: warehouse logistics; mobile robots; intelligent scheduling; path planning; A^* algorithm

分类号:: TP242.6

DOI:: 10.3969/j.issn.1673-4785.201312048

文献标志码:: A

摘要:: 电子商务迅猛发展,为仓储物流带来了新的需求和挑战。其发货单位小型化,品种多、批量小、批次多、周期短,传统的仓储物流难以适应新的需求,基于移动机器人的自动化仓储技术正在兴起。首先基于电子商务仓储物流的任务特点,建立了一个灵活可重构的仓储空间模型,制订了适于仓储物流的机器人运行规则。随后,将物流任务分解,给出了综合考虑曼哈顿路径代价和等待时间代价的机器人调度方法,修正A^*算法实现了在特殊道路规则约束下的路径规划,进而加入时序建立了时间空间运行地图进行三维路径规划。通过仿真,比较了路径规划方法和机器人数量对任务完成时间、运行总里程、道路冲突协调的影响,验证了智能调度和路径规划方法的有效性。

Abstract:: The rapid increase of E-commerce brings new challenges for warehouse logistics. The shipments are characterized as big variety, small volume, large number of small batches and short cycle, and thus are difficult to handle. Emerging logistic technology based on mobile robots is the promising solution. In this work, firstly a warehouse model with flexible re-configurability was set up and a set of rules to govern warehouse logistics and robot movement were defined. After that, the logistic task was decomposed and a robot scheduling method taking into account the Manhattan path cost and the waiting time cost was proposed. Next, the A^* algorithm was adapted for robot path planning under the special constraint rules. Finally, timing information was included for consideration and a time-space map was established to carry out three-dimensional path planning. The intelligent scheduling and path planning methods were validated by simulation experiments. The path planning methods and number of robots were compared in relation to total time cost, total mileage and number of conflicts.

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备注/Memo

收稿日期:2013-12-24;改回日期:。
基金项目:国家“863”计划资助项目(2012AA041403).
作者简介:沈博闻,男,1991年生,美国纽约州立大学布法罗分校攻读硕士研究生,主要研究方向为机器人与智能系统、人与机器人的交互、协作与控制、智能服务和辅助机器人;于宁波,男,1981年生,副教授,博士,主要研究方向为机器人与智能系统、人与机器人的交互、协作与控制、智能服务和医疗辅助机器人;刘景泰,男,1964年生,教授,博士,主要研究方向为机器人技术、计算机应用与信息自动化系统、智能科学与技术。
通讯作者:于宁波.E-mail:nyu@nankai.edu.cn.

更新日期/Last Update: 2015-06-16