生产车间多AGV运输系统能耗优化路径规划算法

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中图分类号：U468.2 文献标志码：B DOI：10.19710/J.cnki.1003-8817.20250216

Energy Consumption Optimization Path Planning Algorithm for Multi-AGV Transportation Systems in Production Workshops

Xu Jiaxiang， Wang Ning （SchoolofAutomotive Studies，Tongji University，Shanghai201804）

Abstract：To reduce the overall energy consumption of multi-Automated Guided Vehicle （AGV） transportation systems inautomobileproduction workshops，an energy-saving path algorithmfor multi-AGV systems in complex obstacle environments，namedE-CBS，isproposed.Firstof all，anAGV energyconsumption model isestablished， taking intoacountfactorssuchasload，steering，startingandstopping.Then，bymodifyingtheheuristicfunctionand enhancingthe node information structure and the expansion mode，a single AGV path planning algorithm named EEA （204号 is proposed to avoid path entrapment in complex obstacle-distributedareas.Using EEA*as the underlying algorithm， the E-CBS algorithm is constructed by establishing a constraint alocation mechanism thatconsiders dynamic priorities. Finally，multiplesetsof simulation experimentsinrandom scenariosareconducted，and theresultsshow thatthe improved algorithms can reduce the system's energy consumption by 14.02% to 17.16%

Keywords：AGV，Energyconsumptionoptimization，Improved A* ，Conflict-basedsearch

1前言

目前，自动导引车（AutomatedGuidedVehicle，AGV）已成为智能制造和智慧物流的核心设备。（剩余9475字）