Research on AGV Integrated Job Scheduling and its Path Planning Based on ISSA and IA
In order to solve the defects of a single algorithm in terms of optimality and diversity in solving job-shop scheduling and routing problems,this paper proposes a improved squirrel search algorithm(ISSA)and an optimal A∗algorithm.Meanwhile,a two-layer model integrating job scheduling and AGV path plan-ning has been established.Firstly,an upper layer model of integrated AGV job scheduling considering energy consumption is established based on greedy strategy and flying squirrel search algorithm.Secondly,the safe distance factor is introduced into A∗algorithm to construct the lower layer model of AGV path planning,and the gradient descent method is used to smooth the path.Then,six test functions and kacem examples are used to verify ISSA's optimization ability.The results show that ISSA's convergence speed is fast,the operation ef-ficiency is high,and it is not easy to fall into the local optimal.Finally,path simulation and comparison exper-iments based on raster modelling show that IA∗reduces the number of inflection points by 22%and reduces the travel time by 21%compared with A∗algorithm.ISSA and IA∗are both well verified.The results show that ISSA and IA∗can solve AGV integrated job scheduling and path planning more effectively.
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