智能制造车间多自动导引车无冲突路径规划研究

Research on conflict-free path planning for multiple automated guided vehicles in intelligent manufacturing workshops

  • 摘要: 无冲突路径规划是影响智能制造车间自动导引车(automated guided vehicle, AGV)物流系统高效、安全运行的关键技术。基于集中式决策的智能制造车间多AGV无冲突路径规划(multi-AGV conflict-free path planning, MCPP)存在环境适应性、灵活性不足等问题,为此引入分布式决策思想解决MCPP问题,以更好地适应智能制造车间复杂多变的物流需求。首先,基于栅格地图表达的车间物流运输环境描述了MCPP问题,分析AGV间潜在的冲突类型并设计冲突消减策略。然后,将MCPP问题模型转化为强化学习(reinforcement learning, RL)对应的部分可观测马尔可夫决策过程,设计状态空间、动作空间、奖励函数等RL要素。进而,利用改进的QMIX解决MCPP问题。最后,开展实验研究,通过与时空A*算法、冲突搜索算法、博弈论方法、多智能体强化学习中的值分解网络(value decomposition networks, VDN)方法以及经典QMIX算法进行求解效果对比,验证所提模型及方法的可行性和有效性。

     

    Abstract: Conflict-free path planning is critical for the efficient and safe operation of automated guided vehicle (AGV) logistics systems in intelligent manufacturing workshops. Traditional centralized decision-making approaches for solving multi-AGV conflict-free path planning (MCPP) problems face challenges such as insufficient environmental adaptability and flexibility. Therefore, a distributed decision-making approach is applied to accommodate the complex and dynamic logistics requirements in intelligent manufacturing workshops. Firstly, based on the grid map-based workshop logistics transport environment, the MCPP problem is described, potential AGV conflict types are analyzed, and a conflict reduction strategy is designed. Then, the MCPP problem model is transformed into a partially observable Markov decision process corresponding to reinforcement learning (RL), and the RL elements, including the state space, action space, and reward function, are designed. Furthermore, an improved QMIX is employed to solve the MCPP problem. Finally, experimental studies are conducted to verify the feasibility and effectiveness of the proposed model and method through comparisons with the spatiotemporal A* algorithm, conflict-based search algorithm, game theory method, value decomposition networks (VDN), and the classic QMIX algorithm.

     

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