工业工程

工业工程 ›› 2019, Vol. 22 ›› Issue (6): 34-39.doi: 10.3969/j.issn.1007-7375.2019.06.005

• 专题论述 • 上一篇    下一篇

基于改进A*算法的仓储物流移动机器人任务调度和路径优化研究

王秀红, 刘雪豪, 王永成   

  1. 郑州航空工业管理学院 管理工程学院, 河南 郑州 450015
  • 收稿日期:2019-01-29 发布日期:2019-12-24
  • 作者简介:王秀红(1974-),女,河北省人,教授,硕士,主要研究方向为技术创新
  • 基金资助:
    国家自然科学基金资助项目（U1404702）；河南省哲学社会科学规划资助项目（2016BZH010）；河南省科技厅资助项目（182102310951）；河南省高等学校重点科研项目（19A413012）；河南省高等学校重点科研项目（20A630035）

A Research on Task Scheduling and Path Planning of Mobile Robot in Warehouse Logistics Based on Improved A* algorithm

WANG Xiuhong, LIU Xuehao, WANG Yongcheng   

  1. School of Management Engineering, Zhengzhou University of Aeronautics, Zhengzhou 450015, China
  • Received:2019-01-29 Published:2019-12-24

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摘要： 为解决仓储物流中移动机器人执行订单任务过程中，调度系统难以快速准确地进行任务分配，且搬运路线并非最短最优路线的问题，根据移动机器人的运动方式和订单任务要求，构建具有可重构性的仓库空间模型和栅格地图模型，通过建立数学模型求解订单任务最短完工时间分配问题，改进传统A*算法中3种常用距离算法的不足，并提出复杂对角线距离算法进行路径规划仿真。仿真结果表明，上述方法实现总任务完工时间最短的任务分配，使路径规划搜索节点数减少30%，路径长度缩短20%。

关键词: 移动机器人, 仓储物流, A*算法, 任务调度, 路径规划

Abstract: In executing the order task of the mobile robot in the warehouse logistics, the dispatching system is difficult to perform task assignment quickly and accurately, and the handling route is not the shortest optimal route. According to the mobile robot's movement mode and the requirement of order task, a reconfigurable warehouse space model and a grid map model are constructed, solving the shortest completion time allocation problem of order task by establishing a mathematical model, and improving the insufficiency of three common distance algorithms in traditional A* algorithm, and a complex diagonal distance algorithm is proposed for path planning simulation. The simulation results show that the above method achieves the task assignment with the shortest task completion time, which reduces the number of path planning search nodes by 30% and the path length by 20%.

Key words: mobile robot, warehousing logistics, A* algorithm, task scheduling, path planning

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