Automated Guided Vehicle Route Planning Problems With Time Windows In Container Terminal Environment

With the increasing development of maritime trade and the substantial increase of labor costs,automated terminals have developed rapidly.The path planning problem of automated guided vehicle（AGV）is the problem of planning the shortest path between the designated starting point and the end point,and it is one of the key factors to improve the operation efficiency of automated terminal.The first chapter introduces AGV path planning and its research status.The second chapter reviews the classical graph search—A*algorithm,and focuses on Time＿A*algorithm with the distance time heuristic parameter considering the time dimension.The third chapter,adds the ideal time window constraint of arrival at the destination to Time＿A*algorithm,and proposes the AGV path planning strategy with time window in the automatic terminal environment——TW＿A*algorithm.TW＿A*algorithm plans the path to reach the destination within the time window as much as possible by adding the penalty term to the evaluation function.In the multi AGV scenario,the path planning is carried out for the AGV according to the urgency of the task from high to low,and the path planning is given priority to the AGV with urgent task.The fourth chapter gives the experimental simulation results under four scenarios,and the numerical experimental results show that the average length of the planned path of the algorithm considering the time window is less than 1s,but The planned route better matches the actual demand of the wharf...