多机器人存取系统中的机器人群无冲突调度方法

多机器人存取系统由大量自寻址机器人构成，机器人群体运动过程会频繁发生冲突并引发大量启停，给能耗带来损失并影响机器人寿命。针对该问题，借鉴无等待作业车间调度，基于主动等待提出了机器人群无冲突调度方法。建立了机器人群无冲突调度数学模型并基于模拟退火算法优化任务顺序，进一步建立机器人群调度评估方法。实验结果表明，所提方法与传统方法相比，能够在不弱化运作效率的基础上大幅减少机器人群的启停次数，在节能和延长机器人寿命方面具有显著优势。

Autonomous Vehicle fleet Interference-free Scheduling Approach in Robotic Mobile Fulfillment System

Robotic mobile fulfillment system (RMFS) is a system constituted by a fleet of autonomous vehicles (AV). The movement of AVs may be interfered and result in frequent start-stops, which may result in non-efficient energy and poor life span of AVs. To solve this problem, a AVs’ interference-free scheduling approach is proposed based on the idea of no wait job shop scheduling problem (NWJSP) and avoids conflicts by actively waiting. A mathematics model is presented for AVs’ interference-free scheduling problem and simulated annealing algorithm is employed to sequence tasks. An evaluation approach is proposed to evaluate the solution with interference-free scenario. Based on the experiment results, the proposed approach can great reduce the number of AVs’ start-stop without sacrifice of working efficiency. Obviously, the proposed approach has significant advantage on energy-efficiency and extending AVs’ lifespan.