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根据现代生产工艺的特点,结合AGV自动导引小车的路径规划技术,建立了带有时间窗约束的路径规划模型。文中针对到达时间窗约束,对超出时间窗到达的AGV给予一定的成本惩罚,采用小车固定成本、运行成本、到达时间惩罚成本的总成本最小作为最优化标准,得到AGV路径规划的最优解,并进行鲁棒优化。对于模型,文中采用遗传算法求解,并对随机规划法建立的预测模型和概率模型得到的最优路径的效能进行了综合比较。
According to the characteristics of modern production technology and the path planning technology of AGV automatic guided car, a path planning model with time window constraint is established. In this paper, a certain cost penalty is given to the AGV arriving beyond the time window for the arrival time window constraint. The optimal solution of AGV path planning is obtained by using the minimum total cost of fixed cost, operating cost and penalty of arrival time as the optimal standard. And robust optimization. For the model, the genetic algorithm is used to solve the problem, and the performance of the optimal path obtained from the prediction model and the probability model established by stochastic programming is comprehensively compared.