A Calculation Time Prediction-Based Multiflow Network Path Planning Method for the AGV Sorting System
文献类型：会议论文
| 作者 | Wang K(王轲)1,2,3,4; Liang W(梁炜)1,2,3 ; Shi HG(石华光)1,2,3,4; Zhang JL(张嘉麟)1,2,3,4; Wang Q(王琪)1,2,3,4
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| 出版日期 | 2021 |
| 会议日期 | October 22-25, 2021 |
| 会议地点 | Guilin, China |
| 关键词 | AGV SVM Path planning Predication |
| 页码 | 123-135 |
| 英文摘要 | The Automatic Guided Vehicle (AGV) sorting system is a new way of sorting. Path planning is the key part to improve sorting efficiency of the system. In the existing methods, the multiflow network path planning method obtains optimal paths by transforming path planning problems into integer linear programming problems and solving them. However, due to the huge amount of calculation, it is hard to ensure the real-time performance and use the method in practice. In this paper, a Calculation Time Prediction-based Multiflow Network path planning method (CTPMN) is proposed to deal with the problem. Firstly, a new operating model is proposed, in which the time window of the AGV moving can be set according to the predicted calculation time of the path planning method. And then a support vector machine-based algorithm is used to learn the predicted calculation time based on the size of sorting area, number of sorting tasks and the maximum task distance. In addition, a task decomposition strategy is put forward to eliminate the constraint that the destination of any two tasks in the multi-flow network method cannot be the same. Finally, the effectiveness of the proposed method is verified by simulation experiments. |
| 产权排序 | 1 |
| 会议录 | 15th China Conference on Wireless Sensor Networks, CWSN 2021
 |
| 会议录出版者 | Springer Science and Business Media Deutschland GmbH |
| 会议录出版地 | Singapore |
| 语种 | 英语 |
| ISSN号 | 1865-0929 |
| ISBN号 | 978-981-16-8173-8 |
| WOS记录号 | WOS:000766379000010 |
| 源URL | [http://ir.sia.cn/handle/173321/30216]  |
| 专题 | 沈阳自动化研究所_工业控制网络与系统研究室 |
| 通讯作者 | Liang W(梁炜) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.Key Laboratory of Networked Control System, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China 4.University of Chinese Academy of Sciences, Beijing 100049, China |
| 推荐引用方式 GB/T 7714 | Wang K,Liang W,Shi HG,et al. A Calculation Time Prediction-Based Multiflow Network Path Planning Method for the AGV Sorting System[C]. 见:. Guilin, China. October 22-25, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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