Research On Heterogeneous AGV Scheduling Of Container Terminals

With the continuous improvement of automatic port handling technology,the operation environment and process 'involved in port AGV scheduling are also changing.However,due to the limited operation site and the poor cooperative operation ability of various facilities,the horizontal transportation operation represented by AGV has become the bottleneck of the improvement of the operation efficiency of the wharf.The research of AGV scheduling system needs to adapt to the technical innovation,and focuses on solving the problems of path deadlock,cooperative operation and so on.In addition,the current AGV scheduling technology used in the port,no matter whether it is multi load or single load,its research object is often a type of vehicle,but there are many standards and specifications in port operation process and container size.It is inevitable to waste transportation capacity and energy consumption to use the same type of AGV for transportation,so we try to use heterogeneous AGV to further optimize the port operation system It is very promising.In this paper,taking the fourth generation automatic terminal as an example,we focus on the scheduling optimization of heterogeneous AGV fleet under the synchronous loading and unloading mode,and study the operation mode,scheduling model and precautions of heterogeneous AGV scheduling.In the research process,the terminal operation system related to AGV scheduling is divided into four parts:shore bridge operation stage,AGV task assignment stage,AGV path selection stage and field bridge operation stage.Based on the previous experience in heterogeneous vehicle scheduling,the mixed integer programming model is designed for the upper scheduling system related to AGV task assignment.The model considers the differences in capacity and operation mode of heterogeneous AGVs,constructs the factors that reflect.the traffic congestion,designs the algorithm of "genetic+tabu search",strictly limits the solution time,and evaluates the improvement of the model and algorithm for the wharf frontier scheduling optimization under the condition of heterogeneous fleet by building a simulation platform to assist the design of relevant parameters The results show that the use of heterogeneous AGV in horizontal transportation can improve the efficiency of operation and reduce the energy consumption of horizontal transportation.