Journal of Computer Applications ›› 2022, Vol. 42 ›› Issue (7): 2281-2291.DOI: 10.11772/j.issn.1001-9081.2021050819
Special Issue: 前沿与综合应用
• Frontier and comprehensive applications • Previous Articles Next Articles
Houming FAN, Shuang MU, Lijun YUE()
Received:
2021-05-19
Revised:
2022-02-21
Accepted:
2022-05-25
Online:
2022-03-15
Published:
2022-07-10
Contact:
Lijun YUE
About author:
FAN Houming, born in 1962, Ph. D., professor. His research interests include transportation system planning and design.Supported by:
通讯作者:
岳丽君
作者简介:
范厚明(1962—),男,山东蓬莱人,教授,博士生导师,博士,主要研究方向:交通运输系统规划与设计基金资助:
CLC Number:
Houming FAN, Shuang MU, Lijun YUE. Collaborative optimization of automated guided vehicle scheduling and path planning considering conflict and congestion[J]. Journal of Computer Applications, 2022, 42(7): 2281-2291.
范厚明, 牟爽, 岳丽君. 考虑冲突和拥堵的自动导引车调度与路径规划协同优化[J]. 《计算机应用》唯一官方网站, 2022, 42(7): 2281-2291.
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URL: https://www.joca.cn/EN/10.11772/j.issn.1001-9081.2021050819
岸桥/箱区 | 节点 | 岸桥/箱区 | 节点 | 岸桥/箱区 | 节点 |
---|---|---|---|---|---|
Q1 | 3 | B1 | 59 | B4 | 64 |
Q2 | 8 | B2 | 60 | B5 | 67 |
Q3 | 13 | B3 | 63 | B6 | 68 |
Tab. 1 Node numbers corresponding to quay cranes and container areas
岸桥/箱区 | 节点 | 岸桥/箱区 | 节点 | 岸桥/箱区 | 节点 |
---|---|---|---|---|---|
Q1 | 3 | B1 | 59 | B4 | 64 |
Q2 | 8 | B2 | 60 | B5 | 67 |
Q3 | 13 | B3 | 63 | B6 | 68 |
实验 | N | A | 本文IAGA | GA | GAP/% | ||
---|---|---|---|---|---|---|---|
f1/s | CPU/s | CPU/s | |||||
1 | 21 | 3 | 610 | 3.75 | 689 | 4.37 | 12.95 |
2 | 42 | 3 | 1 214 | 7.23 | 1 384 | 8.08 | 14.00 |
3 | 42 | 6 | 988 | 7.43 | 1 085 | 8.12 | 9.82 |
4 | 60 | 3 | 1 839 | 11.05 | 2 064 | 12.16 | 12.23 |
5 | 60 | 6 | 1 478 | 11.27 | 1 634 | 12.34 | 10.55 |
6 | 90 | 3 | 2 935 | 15.03 | 3 212 | 26.07 | 9.44 |
7 | 90 | 6 | 2 361 | 18.42 | 2 591 | 21.45 | 9.74 |
8 | 90 | 9 | 2 168 | 19.34 | 2 341 | 22.15 | 7.98 |
9 | 150 | 6 | 3 845 | 35.69 | 4 240 | 40.38 | 10.27 |
10 | 150 | 9 | 3 637 | 33.40 | 3 874 | 38.47 | 6.52 |
11 | 240 | 6 | 6 256 | 60.26 | 6 591 | 68.88 | 5.35 |
12 | 240 | 9 | 5 637 | 58.91 | 5 945 | 67.54 | 5.46 |
13 | 300 | 6 | 7 885 | 82.80 | 8 407 | 93.83 | 6.62 |
14 | 300 | 9 | 7 160 | 81.45 | 7 527 | 92.21 | 5.13 |
Tab. 2 Comparison of numerical example results
实验 | N | A | 本文IAGA | GA | GAP/% | ||
---|---|---|---|---|---|---|---|
f1/s | CPU/s | CPU/s | |||||
1 | 21 | 3 | 610 | 3.75 | 689 | 4.37 | 12.95 |
2 | 42 | 3 | 1 214 | 7.23 | 1 384 | 8.08 | 14.00 |
3 | 42 | 6 | 988 | 7.43 | 1 085 | 8.12 | 9.82 |
4 | 60 | 3 | 1 839 | 11.05 | 2 064 | 12.16 | 12.23 |
5 | 60 | 6 | 1 478 | 11.27 | 1 634 | 12.34 | 10.55 |
6 | 90 | 3 | 2 935 | 15.03 | 3 212 | 26.07 | 9.44 |
7 | 90 | 6 | 2 361 | 18.42 | 2 591 | 21.45 | 9.74 |
8 | 90 | 9 | 2 168 | 19.34 | 2 341 | 22.15 | 7.98 |
9 | 150 | 6 | 3 845 | 35.69 | 4 240 | 40.38 | 10.27 |
10 | 150 | 9 | 3 637 | 33.40 | 3 874 | 38.47 | 6.52 |
11 | 240 | 6 | 6 256 | 60.26 | 6 591 | 68.88 | 5.35 |
12 | 240 | 9 | 5 637 | 58.91 | 5 945 | 67.54 | 5.46 |
13 | 300 | 6 | 7 885 | 82.80 | 8 407 | 93.83 | 6.62 |
14 | 300 | 9 | 7 160 | 81.45 | 7 527 | 92.21 | 5.13 |
任务 | 箱子类型 | 起点-终点 | 任务 | 箱子类型 | 起点-终点 | 任务 | 箱子类型 | 起点-终点 |
---|---|---|---|---|---|---|---|---|
1 | U | Q1-B1 | 15 | U | Q1-B1 | 29 | U | Q1-B1 |
2 | L | B6-Q3 | 16 | L | B6-Q3 | 30 | L | B3-Q1 |
3 | L | B3-Q2 | 17 | L | B4-Q1 | 31 | L | B3-Q3 |
4 | U | Q2-B1 | 18 | U | Q2-B2 | 32 | L | B4-Q2 |
5 | L | B6-Q2 | 19 | L | B5-Q1 | 33 | L | B6-Q2 |
6 | L | B3-Q1 | 20 | U | Q3-B2 | 34 | U | Q2-B1 |
7 | L | B5-Q2 | 21 | L | B4-Q2 | 35 | L | Q3-B5 |
8 | L | B3-Q4 | 22 | L | B3-Q2 | 36 | L | B6-Q2 |
9 | U | Q1-B2 | 23 | U | Q3-B1 | 37 | L | B5-Q1 |
10 | U | Q3-B2 | 24 | L | B3-Q1 | 38 | U | Q3-B2 |
11 | L | B5-Q2 | 25 | L | B3-Q3 | 39 | U | Q1-B2 |
12 | L | B6-Q1 | 26 | L | B4-Q3 | 40 | U | Q2-B1 |
13 | U | Q1-B2 | 27 | L | B5-Q2 | 41 | L | B5-Q3 |
14 | L | B4-Q3 | 28 | L | B4-Q2 | 42 | L | B6-Q2 |
Tab. 3 Task allocation
任务 | 箱子类型 | 起点-终点 | 任务 | 箱子类型 | 起点-终点 | 任务 | 箱子类型 | 起点-终点 |
---|---|---|---|---|---|---|---|---|
1 | U | Q1-B1 | 15 | U | Q1-B1 | 29 | U | Q1-B1 |
2 | L | B6-Q3 | 16 | L | B6-Q3 | 30 | L | B3-Q1 |
3 | L | B3-Q2 | 17 | L | B4-Q1 | 31 | L | B3-Q3 |
4 | U | Q2-B1 | 18 | U | Q2-B2 | 32 | L | B4-Q2 |
5 | L | B6-Q2 | 19 | L | B5-Q1 | 33 | L | B6-Q2 |
6 | L | B3-Q1 | 20 | U | Q3-B2 | 34 | U | Q2-B1 |
7 | L | B5-Q2 | 21 | L | B4-Q2 | 35 | L | Q3-B5 |
8 | L | B3-Q4 | 22 | L | B3-Q2 | 36 | L | B6-Q2 |
9 | U | Q1-B2 | 23 | U | Q3-B1 | 37 | L | B5-Q1 |
10 | U | Q3-B2 | 24 | L | B3-Q1 | 38 | U | Q3-B2 |
11 | L | B5-Q2 | 25 | L | B3-Q3 | 39 | U | Q1-B2 |
12 | L | B6-Q1 | 26 | L | B4-Q3 | 40 | U | Q2-B1 |
13 | U | Q1-B2 | 27 | L | B5-Q2 | 41 | L | B5-Q3 |
14 | L | B4-Q3 | 28 | L | B4-Q2 | 42 | L | B6-Q2 |
AGV | 运输任务 | 行驶路径 |
---|---|---|
1 | 2-16-17-21-22-30-34 | B6-Q3-B6-Q3-B4-Q1-B4-Q2-B3-Q2-B3-Q1-B6-Q3 |
2 | 8-10-13-18-28-33 | B4-Q3-B2-Q1-B2-Q2-B2-B4-Q2-B5-Q1 |
3 | 1-6-12-23-25-31-36-40 | Q1-B1-B3-Q1-B6-Q1-Q3-B1-B3-Q3- B3-Q3-B6-Q2-B1 |
4 | 14-20-27-29-32-37-38 | B4-Q3-B2-B5-Q2-Q1-B1-B4-Q2-B5-Q1-Q3-B2 |
5 | 3-4-7-24-26-35-39 | B3-Q2-B1-B5-Q2-B3-Q1-B4-Q3-B5-Q1-B2 |
6 | 5-9-11-15-19-41-42 | B6-Q2-Q1-B2-B5-Q2-Q1-B1-B5-Q1-B5-Q3-B6-Q3 |
Tab. 4 AGV scheduling results
AGV | 运输任务 | 行驶路径 |
---|---|---|
1 | 2-16-17-21-22-30-34 | B6-Q3-B6-Q3-B4-Q1-B4-Q2-B3-Q2-B3-Q1-B6-Q3 |
2 | 8-10-13-18-28-33 | B4-Q3-B2-Q1-B2-Q2-B2-B4-Q2-B5-Q1 |
3 | 1-6-12-23-25-31-36-40 | Q1-B1-B3-Q1-B6-Q1-Q3-B1-B3-Q3- B3-Q3-B6-Q2-B1 |
4 | 14-20-27-29-32-37-38 | B4-Q3-B2-B5-Q2-Q1-B1-B4-Q2-B5-Q1-Q3-B2 |
5 | 3-4-7-24-26-35-39 | B3-Q2-B1-B5-Q2-B3-Q1-B4-Q3-B5-Q1-B2 |
6 | 5-9-11-15-19-41-42 | B6-Q2-Q1-B2-B5-Q2-Q1-B1-B5-Q1-B5-Q3-B6-Q3 |
起终点 | 最短路径 | 行驶 时间/s | 转折数 |
---|---|---|---|
B6-Q3 | 68-67-55-42-27-12-13 | 30 | 2 |
Q3-B6 | 13-14-29-44-56-68 | 22 | 1 |
B6-Q3 | 68-67-55-42-27-12-13 | 30 | 2 |
Q3-B4 | 13-14-29-44-56-68-67-66-65-64 | 36 | 2 |
B4-Q1 | 64-63-62-61-60-59-47-32-17-2-3 | 44 | 2 |
Q1-B4 | 3-4-5-6-7-8-9-24-39-52-64 | 36 | 1 |
B4-Q2 | 64-63-51-37-22-7-8 | 30 | 2 |
Q2-B3 | 8-9-24-39-52-64-63 | 30 | 2 |
B3-Q2 | 63-51-37-22-7-8 | 22 | 1 |
Q2-B3 | 8-9-24-39-52-64-63 | 30 | 2 |
B3-Q1 | 63-62-61-60-59-47-32-17-2-3 | 36 | 2 |
Q1-B6 | 3-4-5-6-7-8-9-10-11-12-13-14-29-44-56-68 | 50 | 1 |
B6-Q3 | 68-67-55-42-27-12-13 | 30 | 2 |
Tab. 5 Path for AGV1 to complete task
起终点 | 最短路径 | 行驶 时间/s | 转折数 |
---|---|---|---|
B6-Q3 | 68-67-55-42-27-12-13 | 30 | 2 |
Q3-B6 | 13-14-29-44-56-68 | 22 | 1 |
B6-Q3 | 68-67-55-42-27-12-13 | 30 | 2 |
Q3-B4 | 13-14-29-44-56-68-67-66-65-64 | 36 | 2 |
B4-Q1 | 64-63-62-61-60-59-47-32-17-2-3 | 44 | 2 |
Q1-B4 | 3-4-5-6-7-8-9-24-39-52-64 | 36 | 1 |
B4-Q2 | 64-63-51-37-22-7-8 | 30 | 2 |
Q2-B3 | 8-9-24-39-52-64-63 | 30 | 2 |
B3-Q2 | 63-51-37-22-7-8 | 22 | 1 |
Q2-B3 | 8-9-24-39-52-64-63 | 30 | 2 |
B3-Q1 | 63-62-61-60-59-47-32-17-2-3 | 36 | 2 |
Q1-B6 | 3-4-5-6-7-8-9-10-11-12-13-14-29-44-56-68 | 50 | 1 |
B6-Q3 | 68-67-55-42-27-12-13 | 30 | 2 |
起终点 | 最短路径 | 行驶时间/s | 转折数 |
---|---|---|---|
B4-Q3 | 64-52-53-54-41-26-11-12-13 | 28 | 3 |
Q3-B2 | 13-14-29-44-56-68-67-66-65-64- 63-62-61-60 | 50 | 2 |
B2-Q1 | 60-59-47-32-17-2-3 | 30 | 2 |
Q1-B2 | 3-4-19-34-48-60 | 22 | 1 |
B2-Q2 | 60-48-49-50-36-21-6-7-8 | 28 | 3 |
Q2-B2 | 8-9-24-39-52-64-63-62-61-60 | 36 | 3 |
B2-B4 | 60-48-49-50-51-52-64 | 18 | 2 |
B4-Q2 | 64-63-51-37-22-7-8 | 30 | 2 |
Q2-B5 | 8-9-24-39-52-53-54-55-67 | 28 | 3 |
B5-Q1 | 67-66-65-64-63-62-61-60-59-47- 32-17-2-3 | 50 | 2 |
Tab. 6 Path for AGV2 to complete task
起终点 | 最短路径 | 行驶时间/s | 转折数 |
---|---|---|---|
B4-Q3 | 64-52-53-54-41-26-11-12-13 | 28 | 3 |
Q3-B2 | 13-14-29-44-56-68-67-66-65-64- 63-62-61-60 | 50 | 2 |
B2-Q1 | 60-59-47-32-17-2-3 | 30 | 2 |
Q1-B2 | 3-4-19-34-48-60 | 22 | 1 |
B2-Q2 | 60-48-49-50-36-21-6-7-8 | 28 | 3 |
Q2-B2 | 8-9-24-39-52-64-63-62-61-60 | 36 | 3 |
B2-B4 | 60-48-49-50-51-52-64 | 18 | 2 |
B4-Q2 | 64-63-51-37-22-7-8 | 30 | 2 |
Q2-B5 | 8-9-24-39-52-53-54-55-67 | 28 | 3 |
B5-Q1 | 67-66-65-64-63-62-61-60-59-47- 32-17-2-3 | 50 | 2 |
起终点 | 最短路径 | 行驶时间/s | 转折数 |
---|---|---|---|
Q1-B1 | 3-4-19-34-48-60-59 | 30 | 2 |
B1-B3 | 59-47-48-49-50-51-63 | 18 | 2 |
B3-Q1 | 63-62-61-60-59-47-32-17-2-3 | 36 | 2 |
Q1-B6 | 3-4-5-6-7-8-9-10-11-12-13-14-29-44-56-68 | 50 | 1 |
B6-Q1 | 68-67-66-65-64-63-62-61-60-59-47-32-17- 2-3 | 58 | 2 |
Q1-B3 | 3-4-19-34-48-49-50-51-63 | 28 | 3 |
Q1-Q3 | 3-4-5-6-7-8-9-10-11-12-13 | 28 | 0 |
Q3-B1 | 13-14-29-44-56-68-67-66-65-64-63-62-61- 60-59 | 58 | 2 |
B1-B3 | 59-47-48-49-50-51-63 | 18 | 2 |
B3-Q3 | 63-51-37-22-7-8-9-10-11-12-13 | 36 | 1 |
Q3-B3 | 13-14-29-44-56-68-67-66-65-64-63 | 44 | 2 |
B3-Q3 | 63-51-37-22-7-8-9-10-11-12-13 | 36 | 1 |
Q3-B6 | 13-14-29-44-56-68 | 22 | 1 |
B6-Q2 | 68-67-66-65-64-63-51-37-22-7-8 | 44 | 2 |
Q2-B1 | 8-9-24-39-52-64-63-62-61-60-59 | 44 | 2 |
Tab. 7 Path for AGV3 to complete task
起终点 | 最短路径 | 行驶时间/s | 转折数 |
---|---|---|---|
Q1-B1 | 3-4-19-34-48-60-59 | 30 | 2 |
B1-B3 | 59-47-48-49-50-51-63 | 18 | 2 |
B3-Q1 | 63-62-61-60-59-47-32-17-2-3 | 36 | 2 |
Q1-B6 | 3-4-5-6-7-8-9-10-11-12-13-14-29-44-56-68 | 50 | 1 |
B6-Q1 | 68-67-66-65-64-63-62-61-60-59-47-32-17- 2-3 | 58 | 2 |
Q1-B3 | 3-4-19-34-48-49-50-51-63 | 28 | 3 |
Q1-Q3 | 3-4-5-6-7-8-9-10-11-12-13 | 28 | 0 |
Q3-B1 | 13-14-29-44-56-68-67-66-65-64-63-62-61- 60-59 | 58 | 2 |
B1-B3 | 59-47-48-49-50-51-63 | 18 | 2 |
B3-Q3 | 63-51-37-22-7-8-9-10-11-12-13 | 36 | 1 |
Q3-B3 | 13-14-29-44-56-68-67-66-65-64-63 | 44 | 2 |
B3-Q3 | 63-51-37-22-7-8-9-10-11-12-13 | 36 | 1 |
Q3-B6 | 13-14-29-44-56-68 | 22 | 1 |
B6-Q2 | 68-67-66-65-64-63-51-37-22-7-8 | 44 | 2 |
Q2-B1 | 8-9-24-39-52-64-63-62-61-60-59 | 44 | 2 |
起终点 | 最短路径 | 行驶 时间/s | 转折数 |
---|---|---|---|
B4-Q3 | 64-52-53-54-41-26-11-12-13 | 28 | 3 |
Q3-B2 | 13-14-29-44-56-68-67-66-65-64- 63-62-61-60 | 50 | 2 |
B2-B5 | 60-48-49-50-51-52-53-54-55-67 | 24 | 2 |
B5-Q2 | 67-66-65-64-63-51-37-22-7-8 | 36 | 2 |
Q2-Q1 | 8-7-6-5-4-3 | 14 | 0 |
Q1-B1 | 3-4-19-34-48-60-59 | 30 | 2 |
B1-B4 | 59-47-48-49-50-51-52-64 | 26 | 2 |
B4-Q2 | 64-63-51-37-22-7-8 | 30 | 2 |
Q2-B5 | 8-9-24-39-52-53-54-55-67 | 28 | 3 |
B5-Q1 | 67-66-65-64-63-62-61-60-59-47- 32-17-2-3 | 50 | 2 |
Q1-Q3 | 3-4-5-6-7-8-9-10-11-12-13 | 28 | 0 |
Q3-B2 | 13-14-29-44-56-68-67-66-65-64- 63-62-61-60 | 50 | 2 |
Tab. 8 Path for AGV4 to complete task
起终点 | 最短路径 | 行驶 时间/s | 转折数 |
---|---|---|---|
B4-Q3 | 64-52-53-54-41-26-11-12-13 | 28 | 3 |
Q3-B2 | 13-14-29-44-56-68-67-66-65-64- 63-62-61-60 | 50 | 2 |
B2-B5 | 60-48-49-50-51-52-53-54-55-67 | 24 | 2 |
B5-Q2 | 67-66-65-64-63-51-37-22-7-8 | 36 | 2 |
Q2-Q1 | 8-7-6-5-4-3 | 14 | 0 |
Q1-B1 | 3-4-19-34-48-60-59 | 30 | 2 |
B1-B4 | 59-47-48-49-50-51-52-64 | 26 | 2 |
B4-Q2 | 64-63-51-37-22-7-8 | 30 | 2 |
Q2-B5 | 8-9-24-39-52-53-54-55-67 | 28 | 3 |
B5-Q1 | 67-66-65-64-63-62-61-60-59-47- 32-17-2-3 | 50 | 2 |
Q1-Q3 | 3-4-5-6-7-8-9-10-11-12-13 | 28 | 0 |
Q3-B2 | 13-14-29-44-56-68-67-66-65-64- 63-62-61-60 | 50 | 2 |
起终点 | 最短路径 | 行驶 时间/s | 转折数 |
---|---|---|---|
B3-Q2 | 63-51-37-22-7-8 | 22 | 1 |
Q2-B1 | 8-9-24-39-52-64-63-62-61-60-59 | 44 | 2 |
B1-B5 | 59-47-48-49-50-51-52-53-54-55-67 | 32 | 2 |
B5-Q2 | 67-66-65-64-63-51-37-22-7-8 | 36 | 2 |
Q2-B3 | 8-9-24-39-52-64-63 | 30 | 2 |
B3-Q1 | 63-62-61-60-59-47-32-17-2-3 | 36 | 2 |
Q1-B4 | 3-4-5-6-7-8-9-24-39-52-64 | 36 | 1 |
B4-Q3 | 64-52-53-54-41-26-11-12-13 | 28 | 3 |
Q3-B5 | 13-14-29-44-56-68-67 | 30 | 2 |
B5-Q1 | 67-66-65-64-63-62-61-60-59-47-32-17-2-3 | 50 | 2 |
Q1-B2 | 3-4-19-34-48-60 | 22 | 1 |
Tab. 9 Path for AGV5 to complete task
起终点 | 最短路径 | 行驶 时间/s | 转折数 |
---|---|---|---|
B3-Q2 | 63-51-37-22-7-8 | 22 | 1 |
Q2-B1 | 8-9-24-39-52-64-63-62-61-60-59 | 44 | 2 |
B1-B5 | 59-47-48-49-50-51-52-53-54-55-67 | 32 | 2 |
B5-Q2 | 67-66-65-64-63-51-37-22-7-8 | 36 | 2 |
Q2-B3 | 8-9-24-39-52-64-63 | 30 | 2 |
B3-Q1 | 63-62-61-60-59-47-32-17-2-3 | 36 | 2 |
Q1-B4 | 3-4-5-6-7-8-9-24-39-52-64 | 36 | 1 |
B4-Q3 | 64-52-53-54-41-26-11-12-13 | 28 | 3 |
Q3-B5 | 13-14-29-44-56-68-67 | 30 | 2 |
B5-Q1 | 67-66-65-64-63-62-61-60-59-47-32-17-2-3 | 50 | 2 |
Q1-B2 | 3-4-19-34-48-60 | 22 | 1 |
起终点 | 最短路径 | 行驶时间/s | 转折数 |
---|---|---|---|
B6-Q2 | 68-67-66-65-64-63-51-37-22-7-8 | 44 | 2 |
Q2-Q1 | 8-7-6-5-4-3 | 14 | 0 |
Q1-B2 | 3-4-19-34-48-60 | 22 | 1 |
B2-B5 | 60-48-49-50-51-52-53-54-55-67 | 24 | 2 |
B5-Q2 | 67-66-65-64-63-51-37-22-7-8 | 36 | 2 |
Q2-Q1 | 8-7-6-5-4-3 | 14 | 0 |
Q1-B1 | 3-4-19-34-48-60-59 | 30 | 2 |
B1-B5 | 59-47-48-49-50-51-52-53-54-55-67 | 32 | 2 |
B5-Q1 | 67-66-65-64-63-62-61-60-59-47-32-17-2-3 | 50 | 2 |
Q1-B5 | 3-4-5-6-7-8-9-24-39-52-53-54-55-67 | 42 | 3 |
B5-Q3 | 67-55-42-27-12-13 | 22 | 1 |
Q3-B6 | 13-14-29-44-56-68 | 22 | 1 |
B6-Q3 | 68-67-55-42-27-12-13 | 30 | 2 |
Tab. 10 Path for AGV6 to complete task
起终点 | 最短路径 | 行驶时间/s | 转折数 |
---|---|---|---|
B6-Q2 | 68-67-66-65-64-63-51-37-22-7-8 | 44 | 2 |
Q2-Q1 | 8-7-6-5-4-3 | 14 | 0 |
Q1-B2 | 3-4-19-34-48-60 | 22 | 1 |
B2-B5 | 60-48-49-50-51-52-53-54-55-67 | 24 | 2 |
B5-Q2 | 67-66-65-64-63-51-37-22-7-8 | 36 | 2 |
Q2-Q1 | 8-7-6-5-4-3 | 14 | 0 |
Q1-B1 | 3-4-19-34-48-60-59 | 30 | 2 |
B1-B5 | 59-47-48-49-50-51-52-53-54-55-67 | 32 | 2 |
B5-Q1 | 67-66-65-64-63-62-61-60-59-47-32-17-2-3 | 50 | 2 |
Q1-B5 | 3-4-5-6-7-8-9-24-39-52-53-54-55-67 | 42 | 3 |
B5-Q3 | 67-55-42-27-12-13 | 22 | 1 |
Q3-B6 | 13-14-29-44-56-68 | 22 | 1 |
B6-Q3 | 68-67-55-42-27-12-13 | 30 | 2 |
编号 | 冲突对象 | 冲突节点 | 冲突时间/s |
---|---|---|---|
1 | AGV5、AGV2 | 67 | 176、177 |
2 | AGV5、AGV2 | 66 | 178、179 |
3 | AGV5、AGV2 | 65 | 180、181 |
4 | AGV5、AGV2 | 64 | 182、183 |
5 | AGV5、AGV2 | 63 | 190、191 |
6 | AGV2、AGV6 | 3 | 285 |
7 | AGV4、AGV6 | 60 | 353 |
8 | AGV4、AGV1 | 64 | 399、400 |
9 | AGV4、AGV1 | 63 | 407、408 |
10 | AGV4、AGV1 | 51 | 409、410 |
11 | AGV4、AGV1 | 37 | 421、422 |
12 | AGV4、AGV1 | 22 | 423、424 |
13 | AGV4、AGV1 | 7 | 426、425 |
14 | AGV4、AGV1 | 8 | 430、429 |
15 | AGV6、AGV1 | 64 | 399、400 |
16 | AGV6、AGV1 | 63 | 407、408 |
Tab. 11 AGV node conflict time table
编号 | 冲突对象 | 冲突节点 | 冲突时间/s |
---|---|---|---|
1 | AGV5、AGV2 | 67 | 176、177 |
2 | AGV5、AGV2 | 66 | 178、179 |
3 | AGV5、AGV2 | 65 | 180、181 |
4 | AGV5、AGV2 | 64 | 182、183 |
5 | AGV5、AGV2 | 63 | 190、191 |
6 | AGV2、AGV6 | 3 | 285 |
7 | AGV4、AGV6 | 60 | 353 |
8 | AGV4、AGV1 | 64 | 399、400 |
9 | AGV4、AGV1 | 63 | 407、408 |
10 | AGV4、AGV1 | 51 | 409、410 |
11 | AGV4、AGV1 | 37 | 421、422 |
12 | AGV4、AGV1 | 22 | 423、424 |
13 | AGV4、AGV1 | 7 | 426、425 |
14 | AGV4、AGV1 | 8 | 430、429 |
15 | AGV6、AGV1 | 64 | 399、400 |
16 | AGV6、AGV1 | 63 | 407、408 |
编号 | 冲突对象 | 拥堵路段 | 开始时间/s | 结束时间/s |
---|---|---|---|---|
1 | AGV4、AGV6 | 67-66 | 393 | 395 |
2 | AGV4、AGV6 | 66-65 | 395 | 397 |
3 | AGV4、AGV6 | 65-64 | 397 | 399 |
4 | AGV2、AGV5 | 67-66 | 177 | 178 |
5 | AGV2、AGV5 | 66-65 | 179 | 180 |
6 | AGV2、AGV5 | 65-64 | 181 | 182 |
Tab. 12 AGV road congestion time table
编号 | 冲突对象 | 拥堵路段 | 开始时间/s | 结束时间/s |
---|---|---|---|---|
1 | AGV4、AGV6 | 67-66 | 393 | 395 |
2 | AGV4、AGV6 | 66-65 | 395 | 397 |
3 | AGV4、AGV6 | 65-64 | 397 | 399 |
4 | AGV2、AGV5 | 67-66 | 177 | 178 |
5 | AGV2、AGV5 | 66-65 | 179 | 180 |
6 | AGV2、AGV5 | 65-64 | 181 | 182 |
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