Research on the Planning of Autonomous Mobile Robot's Three-dimensional Picking Path
A mixed integer programming model is established with the aim of minimizing the time which takes AMR to finally complete the picking task in the"goods-to-person"background mode.It is done by analyzing the picking mode and operation process of AMR and taking in-to account the speed of AMR itself,the number of pallets,and the load limit.A simulated annealing metropolis criterion that is simple to es-cape the local optimal is added to the standard particle swarm algorithm,and when combined with the dynamic inertia weight value and the penalty function of decreasing curve,a simulated annealing particle swarm mixing algorithm is created to solve the model.The model and algo-rithm are then validated using an intelligent picking center as an example.The simulated annealing particle swarm mixing algorithm is com-pared with the standard particle swarm algorithm and the simulated annealing algorithm,and the results show that the proposed model and al-gorithm outperform the other two heuristic algorithms in terms of iteration speed and solution deviation.
国家科技期刊平台
NSTL
万方数据
维普
