考虑能耗的自动化集装箱码头AGV 无冲突路径规划

打开文本图片集

关键词：自动化集装箱码头；自动化导引车；能耗节约；无冲突路径规划；时空网络中图分类号：TP242 文献标志码：A 文章编号：1001-3695（2025）10-012-2989-07doi：10.19734/j.issn.1001-3695.2025.03.0084

Conflict-free path planning for AGV in automated container terminals considering energy consumption

Xing Daning，Chen Hui† （Navigation College，Jimei University，Xiamen Fujian361O21，China）

Abstract：Totackletheissesof path conflictsand highenergyconsumptionof multipleAGVsinautomated terminals，this study proposedanimproved conflict-free and energy-saving path planning methodbasedonatime-space network.Byassigning timeinformationto terminal path nodes，itconstructed an AGV time-space roadnetwork updatableaccording to time.Then， takingtheminimizationofthetotalAGVruning timeandtotal energyconsumptionastheobjectivefunction，andconsidering constraints likeconflictavoidanceandsafebaterylevels，itestablishedanenergy-savingpath planning mathematicalmodel basedonthe AGV time-space road network.Next，it designed atime-space network（TSN）algorithm to solve the problem. Thealgorithmimplemented theshortest-pathalgorithmintheAGVtime-space network，detectedandresolvedconflicts，determined AGV priorities through adynamic priority mechanism，andemployeda hybrid conflictresolution strategyto generate conflict-free paths.Finally，comparativeexperimentsvalidated themodelandalgorithm.Theexperimentalresultsshowthat TSNalgorithmperforms beter in terms of averagecomputingtime，totalAGVruning timeand energyconsumptioncompared withtheAstaralgorithmwithtime windowandtheCBSalgorithm，whichcanefectivelyimprovetheoperationeffciencyof the terminal.

Key words：automated container terminal；automated guided vehicle（AGV）；energysaving；conflict-free path planning; time-space network

0引言

近年来，智能航运的快速发展推动我国港口与码头智能化、自动化程度显著提升。（剩余17698字）