Research On Automatic Terminal Path Planning Based On Improved Ant Colony Optimization Algorithm

In recent years,with the rapid development of global economy and international trade,the development of international logistics and transportation is becoming more and more rapid.In the world,the total amount of international cargo is increasing rapidly,resulting in the huge size of cargo carrier containers.container water transport,as one of the main ways of international shipping,plays an important role.With the development of science and technology,the transfer station for transporting all kinds of containers has gradually evolved into an automated container terminal.For the main carrier of transporting goods,AGV（Automated Guided Vehicle）plays an important role in the automatic wharf.In all kinds of ports,the path planning of AGV has become one of the factors that affect the efficiency of terminal operation.In order to improve the overall operation efficiency of the automatic terminal system,the following work has been done in this paper:Firstly,based on the analysis of the operation flow and operation mode of the automatic terminal,aiming at the problem that AGV can not directly enter the yard for operation in the process of task transportation,resulting in AGV waiting for the yard bridge,resulting in the reduction of working efficiency,the storage mode of the yard is improved accordingly,and a matrix yard storage mode is proposed.Secondly,based on the analysis of the modeling method of automatic wharf environment,aiming at the problem of low search accuracy and excessive convergence caused by the blind search of ant colony algorithm in the process of searching path,a fusion method of path preprocessing of Drosophila algorithm is proposed,the preprocessing results are added to the pheromone of ant colony algorithm,and the improved algorithms are simulated and compared.The simulation results show that the algorithm has a great improvement in the accuracy and convergence of path search after fusion,and the obtained path is smoothed.Then,based on the analysis of the basic principle of MAKLINK graph theory,the Dijkstra algorithm is used to plan the path.Aiming at the problem that the path planned by Dijkstra algorithm in the electronic map only walks in the midpoint of the obstacle line,which leads to the problem that the search result is not optimal,an optimization method of quadratic optimization of ant colony algorithm is proposed,and the improved algorithms are simulated and compared.The simulation results show that the improved algorithm can find the optimal path on the premise of security.Finally,on the basis of in-depth analysis of the scheduling control system,scheduling strategy and path planning of multi-AGV in automatic terminal,aiming at the problem that multi-AGV system is prone to conflict,a speed control strategy is proposed to avoid conflict,and the improved ant colony algorithm combined with time window is used to judge the conflict.The experimental results show that the improved algorithm and collision avoidance strategy can effectively avoid the conflict,and smooth the path.