In order to improve the fulfillment rate of the path planning stage of the three-dimensional parking garage,the operation process and travel time of the rail guided vehicle(RGV)are analyzed,and a path overlap rate calculation method that complies with the parallel scheduling mode is proposed.A value ordering heuristics(VOH)backtracking algorithm is proposed for the operation characteristics of the three-dimensional parking garage,and a sliding time window for path nodes is constructed.The number of task requests within a unit time window is used as a constraint function,and the performance of extended nodes is evaluated and sorted through an evaluation function.The VOH-pre-pruning strategy is used to prune some nodes to improve the algorithm's solving speed.Simulations were conducted under a non-homogeneous Poisson arrival process.The experimental results show that the value ordering heuristic backtracking algorithm can effectively reduce the path overlap rate of time and space during the parallel operation of the RGV,and it performs stably in the three-dimensional parking garage model with this experimental scale.It has a smaller average service time with a basically unchanged average utilization rate of the RGV.When the customer arrival rate is 40,25,10,and 5 veh/h,the average service time of the RGV decreases by 18.07%,13.29%,12.46%,and 4.27%,respectively,providing a reference for improving the opera-tional efficiency of the three-dimensional parking garage.
关键词
平面移动式立体车库/值排序启发式回溯算法/滑动时间窗/非齐次泊松过程/运行效率
Key words
planar mobile stereo garage/value sorting heuristic backtracking algorithm/slide the time window/non-homo-geneous Poisson processes/operational efficiency
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