Optimally Locating Multiple Dwell Points in a Single Loop Guide Path System

Dwell points for idle vehicles affect the performance of automated guided vehicle systems. An exact polynomial-time algorithm to solve idle vehicle positioning problems in both unidirectional and bidirectional single loop systems is developed to minimize the maximum response time. The proposed algorithm considers several potential locations for the first dwell point and applies a dynamic programming procedure to obtain the remaining dwell points for each initial location. The algorithm is streamlined by applying certain optimality properties. Computational results show that the algorithm can solve large-scale problems in reasonable time.     

Dynamic relative positioning of AGVs in a loop layout to minimize mean system response time

One of the control decisions in the operation of an automated guided vehicle (AGV) system is to determine the home locations of idle vehicles. In this paper, the problems of selecting home location of a vehicle when idle in a single loop AGV network is presented. As the number of unit loads to be picked up at each workstation dynamically changes over time, the optimum home location of vehicles may also change. Based on the objective of minimizing the expected response time of a vehicle, models are constructed. Example problems are given to illustrate the use of the solution algorithms. The results of the system response times obtained using the dynamic dwell point models are compared with those of other dwell point rules.     

A framework for the selection of idle vehicle home locations in an automated guided vehicle system

In the study of automated guided vehicles systems (AGVS), one assumption often made in the management of vehicles is the existence of either home locations or a circulatory loop to buffer or hold idle vehicles. A review of AGVS literature reveals that different researchers pursue one idle vehicle management policy or the other. In some studies, idle vehicles are assumed to circulate in some loops in the system while others assume they are routed to some dwell point locations where they are held until they are reassigned. When the dwell point option is implemented, different strategies for implementation are also available. However, what is generally lacking in references to dwell point strategies are the techniques for selecting the optimal or best dwell points for a given facility. In this study, the problem of dwell point or home location specification is addressed. The problem was modelled mathematically to determine the optimal home locations. The emphasis in the paper is on a unidirectional AGVS guide path. The criterion of optimization employed is the minimization of the system response time to vehicle demand points when dispatched from home locations. Solution methodologies are presented and example problems solved to illustrate the applications of the models presented.     

Intelligent agent framework to determine the optimal conflict-free path for an automated guided vehicles system

Agent technology has been considered as an important approach for developing intelligent manufacturing systems. It offers a new way of thinking about many of the classical problems in manufacturing engineering. The conflict resolution of automated guided vehicles (AGVs) in a flexible manufacturing systems (FMS) environment is one such problem that comes under this category. This paper describe a multi-agent approach to the operational control of AGVs by integration of path generation, enumerating time-windows, searching interruptions, adjusting waiting time and taking decisions on the selection of routes. It presents an efficient algorithm and rules for finding a conflict-free shortest-time path for AGVs, which is applicable to a bi- and unidirectional flow path network. The concept of loop formation in a flow path network is introduced to deal with the parking of idle vehicles, without obstructing the path of moveable AGVs. The concept of loop formation at nodes reduces the timing-taking task of finding the dynamic positioning of idle AGVs in the network.     

Selection of circulatory loops for patrol vehicles operating in a network

Many applications exist in which a vehicle or set of vehicles have the responsibility of patrolling and providing coverage over a wide area or network for the purpose of responding quickly to service requests generated randomly at demand points in the network. One of the decisions in the operation of such patrol vehicles is that of determining the home location or circulatory loop for free or idle vehicles. A vehicle is said to be idle if it is not responding or attending to a service request. Such home location can be a point, a set of points in a network, a circulatory loop, or a set of circulatory loops in the network. The actual number of home locations is system, fleet size, and analyst dependent. Whether a point or loop strategy is implemented, the specification of the home locations or loops is usually done with the objective of improving the response time of idle vehicles to service requests originating from demand stations. In cases where circulatory loop strategy is adopted, the problem is one of determining the best overall circulatory loop or loops that would improve the overall system response time. In a typical conventional or generalized network, several loops may exist. Unless a systematic procedure is developed, non-optimal loops could be selected. In this paper, methodologies for determining the best circulatory loops for patrol vehicles for a given problem scenario in both unidirectional and bidirectional networks are presented. The problem is modelled as a mathematical programming problem. Example problems are given to illustrate the application of the approach. The criterion for optimization is the minimization of the maximum system response time.     

Relative pre-positioning of storage/retrieval machines in automated storage/retrieval systems to minimize maximum system response time

In this paper, the problem of pre-positioning a storage/retrieval (S/R) machine in an automated storage/retrieval system (AS/RS) when the machine is idle is addressed. The objective of the pre-positioning strategy is to minimize the maximum response time to service incoming requests into the AS/RS. A model is developed under the operating condition that each machine can serve one or multiple dedicated aisle(s) of the system. The aisles are assumed to exist in the same region of the AS/RS and thus form a valid order storage/retrieval zone. A solution algorithm for determining the optimal dwell point or location is developed. The paper assumes a dynamic environment where orders arrive over time and are to be serviced by the S/R machine. A dwell point or strategic point to pre-position the machine is to be determined whenever the S/R machine becomes idle in anticipation of an incoming service request. A numerical example is provided to demonstrate how the technique can be used in an actual production setting to improve the overall order turnaround time.     

A construction algorithm for designing guide paths of automated guided vehicle systems

A construction algorithm is suggested to design guide path networks for automated guided vehicle systems (AGVSs). This study uses the total travel time, including waiting and interference time, of vehicles as the decision criteria for determining the direction of path segments on unidirectional guide path layouts. The Q-learning technique is applied to estimate the travel times of vehicles on path segments. Computational experiments were performed to evaluate the performance of the proposed algorithm. The simulation results showed that the proposed algorithm is superior to Kim & Tanchoco's (1993) algorithm in terms of the average travel time, the interference time and the number of deliveries.     

A simulation study of multiple-load-carrying automated guided vehicles in a flexible manufacturing system

Although the technology exists for more advanced applications of automated guided vehicles in flexible manufacturing systems, the current employment of these vehicles in material handling generally subscribes to a simple mode of operation : single-load-carrying capacity for each vehicle and unidirectional traffic on each route of the system. Through a simulation programme, this study investigates the effect of several key factors related to the automated guided vehicles on the overall performance of a flexible manufacturing system. These are the number of pallets allowed in the system, the number of vehicles used and the carrying capacity of each and the input and output queue capacities of the machining stations; finally bidirectional traffic is allowed in some routes. The results show that there is a strong interaction among these factors and reveal their combined effects on the throughput from a small flexible manufacturing system. Upon the user's request, the simulation program also provides the animated colour graphics of the system to view developments concurrently under the selected decision values through time.     

Relative pre-positioning of storage/retrieval machines in automated storage/retrieval system to minimize expected system response time

This paper is focused on the control problem of determining the dwell point of an idle storage/retrieval (S/R) machine in an automated S/R system to improve the overall system service level as measured by the turnaround time of requests to the system. The emphasis of the paper is on the minimization of the expected response time over all retrieval and storage requests executed by the system. The model presented is developed under the operating condition that each machine serves several dedicated aisles of the system. The aisles are assumed to exist in the same region of the automated storage/retrieval system (AS/RS) and thus form a valid order S/R zone. A solution algorithm for determining the optimal dwell point location is developed. The paper assumes a dynamic environment where orders arrive over time and are to be serviced by the S/R machine. A dwell point or strategic point to pre-position the machine is to be determined whenever the machine becomes idle in anticipation of an incoming service request. A numerical example is provided to demonstrate how the technique can be used in an actual production setting to improve the overall order turnaround time.     

Impact of empty vehicle flow on performance of single-loop AGV systems

With the increasing trend in the use of automated guided vehicles systems (AGVS) in manufacturing, the need for design tools becomes greater. The problem is that optimized static design models do not ensure expected performance due to the difficulty in capturing the dynamic operational characteristics of the vehicle system. This study shows that by using the single-loop guide path configuration some of the dynamic features of the system, like the impact the empty vehicle flow has on the system's performance, is reduced. Thus, a more reliable prediction of system performance is achieved     

Optimal solution for the flow path design problem of a balanced unidirectional AGV system

An optimal flow path layout (FPL) design method is introduced as a handy tool for an automated guided vehicle (AGV) system planing stage. The problem is analysed and formulated by linear mixed-integer programming. A procedure based on the branch-and-bound depth-first search technique is proposed to solve the FPL problem. The procedure is implemented as an efficient computer program and yields an optimal solution in a small number of iterations. Using the transportation model for calculating the required and optimal flow of empty vehicles, system balance is achieved. Finally, two examples are given. A simple illustrative example is discussed to demonstrate the procedure, and a realistic FPL problem with 23 nodes, 66 arcs and nine pick-up/delivery stations is solved.     

面向“货到人”拣选系统的一种随机调度策略

通过“货到人”拣选系统作业流程分析,提出了在分批下发订单任务的情况下的一种随机调度策略。以AGV (automated guided vehicle)完成所有任务的总时间最短为目标函数,以任务分配为决策变量,考虑进行调度时AGV所处的状态以及在完成任务过程中AGV在拣选台的排队等待时间,建立随机调度策略的数学规划模型。利用遗传算法进行求解,通过实例仿真,验证了随机调度策略较调度空闲AGV策略具有更高的拣选效率,同时解决了AGV调度与拣选序列问题,对AGV数量配置具有指导作用。     

Determination of unit load sizes in an AGV-based material handling system for an FMS

Unit load size is a key factor in an automated guided vehicle based material handling system for a flexible manufacturing system. Highlighting this aspect and its importance at the design stage, this paper presents an integer programming formulation of the problem of finding the optimal unit load size. Using an existing analytical model to decide the number of AGVs required, an algorithm based on branching and implicit enumeration and a heuristic have been developed. Revised computations due to dynamic system conditions such as changes in part mix are also possible with the proposed algorithms. The methodologies have been demonstrated using numerical examples.     

A beam search-based algorithm and evaluation of scheduling approaches for flexible manufacturing systems

This paper presents a new algorithm for the flexible manufacturing system (FMS) scheduling problem. The proposed algorithm is a heuristic based on filtered beam search. It considers finite buffer capacity, routing and sequence flexibilities and generates machine and automated guided vehicle (AGV) schedules for a given scheduling period. A new deadlock resolution mechanism is also developed as an integral part of the proposed algorithm. The performance of the algorithm is compared with several machine and AGV dispatching rules using mean flow time, mean tardiness and makespan criteria. It is also used to examine the effects of scheduling factors (i.e., machine and AGV load levels, routing and sequence flexibilities, etc.) on the system performance. The results indicate that the proposed scheduling algorithm yields considerable improvements in system performance over dispatching rules under a wide variety of experimental conditions.     

三缸发动机整车怠速振动性能研究

研究基于传统四缸、横置前驱架构上更换的三缸发动机车辆在怠速工况下车内振动性能。阐述分析未加装平衡轴三缸发动机的激励及整车传递路径特性,并从整车NVH性能集成角度研究降低怠速工况下车内振动措施。研究结果表明:怠速工况下,三缸机一阶不平衡往复惯性力矩引起的怠速振动可以通过发动机的不同激励策略结合整车灵敏度特性及悬置的阻尼特性来消除;而降低1.5阶主燃烧激励引起的怠速振动,除降低发动机负载需求和通过降低悬置X向动刚度获得更低的Pitch模态频率及更高隔振性能外,还可以通过优化响应点处的模态频率来实现。     

求解带AGV柔性作业车间调度问题的改进灰狼算法

针对带AGV的柔性作业车间调度问题,以最小化完工时间为目标,考虑AGV在装载站、机器、卸载站之间的有效负载时间和空载时间,构建了数学规划模型。其次,提出一种有效的灰狼算法进行求解,基于该问题特征,设计机器选择、工序排序和AGV搬运的3段编码,有效地保证每个个体均可产生可行解;灰狼算法中改进了关键参数a和E设定方式,有效平衡了算法的勘探能力和局部搜索能力;为进一步提升算法跳出局部最优解的能力,该算法融合了领域搜索等方法。最后,案例测试结果表明,改进灰狼算法在求解带AGV柔性作业车间调度问题中具有优越的性能。     

LTV-MPC自动驾驶汽车路径跟踪算法研究

为解决自动驾驶汽车在时变曲率路径上的跟踪精度和操控稳定性问题,提出一种基于线性时变(LTV)模型的模型预测控制(MPC)算法。分别建立车辆运动学参考模型和动力学参考模型,通过分析期望路径的几何特征获得车辆航向角的前馈参考量,并通过迭代线性化方法推导线性时变的车辆运动参考模型。根据车辆行驶状态设计车辆运动学参考模型/动力学参考模型的自动切换条件,设计并实现基于LTV-MPC的路径跟踪算法。搭建Simulink-CarSim联合仿真平台进行仿真验证。仿真结果证明,相比于传统MPC算法,该文所述的LTV-MPC控制器能够显著提高跟踪精度,且满足不同车速下的操控稳定性要求。     

A multi-objective and integrated model for supply chain scheduling optimization in a multi-site manufacturing system

In a supply chain, scheduling plays a significant role in coordinating and cooperation. This article considers an integration of supplier and vehicle scheduling problems in terms of vehicle routing determination for transporting raw materials from the suppliers to some manufacturing centres. The aim is to minimize the total tardiness of all assigned orders to the suppliers and simultaneously minimize the total travelled distance of the vehicles. Most manufacturing companies, which have to manage their suppliers as an industrial unit, experience this problem. A new metaheuristic algorithm called the multiple league championship algorithm (MLCA), inspired by championship matches, is proposed to solve this problem. To show the efficiency of MLCA, it is compared with two different algorithms used for the problems in the literature that are closest to this problem and a soccer-based algorithm called golden ball. The experimental results prove that the proposed algorithm has better performance than these algorithms.     

Coloured timed Petri net model for real-time control of automated guided vehicle systems

Automated guided vehicle systems (AGVS) are material-handling devices representing an efficient and flexible option for products management in automated manufacturing systems. In AGVS, vehicles follow a guide-path while controlled by a computer that assigns the route, tasks, velocity, etc. Moreover, the design of AGVS has to take into account some management problems such as collisions and deadlocks. The paper presents a novel control strategy to avoid deadlock and collisions in zone-controlled AGVS. In particular, the control scheme manages the assignments of new paths to vehicles and their acquisition of the next zone. Moreover, the use of coloured Petri nets is proposed to model the dynamics of AGVS and implement the control strategy stemming from the knowledge of the system state. Additionally, extending the coloured Petri net model with a time concept allows investigation of system performance. Several simulations of an AGVS with varying fleet size while measuring appropriate performance indices show the effectiveness of the proposed control strategy compared with an alternative policy previously presented.     

Virtual flow paths for free-ranging automated guided vehicle systems

Recent technological development in vehicle design allow vehicles to operate without physical guide paths, i.e. free-ranging automated guided vehicles. This paper addresses the problem of defining flow paths for these vehicles. A model is presented whereby the number of allowable flow paths and the flow directions between nodes (representing pickup/delivery stations and aisle intersections) of the layout network are determined. Examples are presented to demonstrate the approach.