摘要
研究基于信息物理系统建模的多分拣移动机器人(multi-SMR)调度策略.首先,在基于实际应用场景的拓扑地图建模中加入新的路径弧时间损耗指标,以实现对货物不均匀比例和多机器人拥堵状态的精确估计;其次,提出一种改进的启发式路径规划算法,并在路径评估过程中增加目的地距离和时间损耗指标;最后,将完整的调度过程以分层式结构部署在信息物理系统模型中,包括控制层的时间损耗指标更新、交通管制监测,以及物理层的分布式路径规划和机器人状态更新.仿真实验结果表明,改进的调度策略可以进一步提升系统分拣效率,降低计算成本,有效解决机器人拥堵和安全问题.
This paper mainly studies a CPS-based multi-sorting mobile robot(multi-SMR)scheduling strategy.First,a novel time cost is added to the topology map model,realizing an accurate estimation of the uneven proportion of cargos and the congestion status of the robots.Then,an improved path planning algorithm is proposed,and the destination distance and time cost indicators are added to the path evaluation process.Finally,the complete scheduling process is deployed in the CPS model in a hierarchical structure,including time cost update and traffic control at the control layer,and distributed path planning and robot status update at the physical layer.Simulation experiments verify the reliability of the proposed method.Results show that the improved scheduling strategy further improves the system sorting efficiency,reduces the calculation cost,and solves the problem of robot congestion.
作者
廉胤东
刘彦汝
杨启帆
杨奕斌
谢巍
LIAN Yin-dong;LIU Yan-ru;YANG Qi-fan;YANG Yi-bin;XIE Wei(School of Automation Science and Engineering,South China University of Technology,Guangzhou 510640,China;China Southern Power Grid Supply Chain Technology(Guangdong)Co.Ltd.,Guangzhou 510620,China;Guangdong Provincial Key Laboratory of Power System Network Security,Guangzhou 510663,China)
出处
《控制与决策》
EI
CSCD
北大核心
2023年第1期281-288,共8页
Control and Decision
基金
国家自然科学基金项目(61973125)。
