CN114510062B - Shuttle vehicle navigation control method and system - Google Patents
Shuttle vehicle navigation control method and system Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000001133 acceleration Effects 0.000 claims abstract description 47
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- 230000036461 convulsion Effects 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 6
- 230000003247 decreasing effect Effects 0.000 claims description 5
- 238000013209 evaluation strategy Methods 0.000 claims description 4
- 238000005457 optimization Methods 0.000 claims description 4
- 241000022852 Letis Species 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 3
- 238000000354 decomposition reaction Methods 0.000 claims description 3
- 230000007423 decrease Effects 0.000 claims description 3
- 230000002068 genetic effect Effects 0.000 claims description 3
- 239000002245 particle Substances 0.000 claims description 3
- 238000012163 sequencing technique Methods 0.000 claims description 3
- 229910052731 fluorine Inorganic materials 0.000 claims 1
- 125000001153 fluoro group Chemical group F* 0.000 claims 1
- 238000003860 storage Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
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- 238000012986 modification Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention belongs to the technical field of shuttle vehicles, and particularly discloses a shuttle vehicle navigation control method and a shuttle vehicle navigation control system. By adopting the technical scheme, the objective function is established, the shortest operation time and the minimum required number of the four-way shuttles are ensured, the cost is saved, and the problem of unstable system operation under the condition of high acceleration is solved.
Description
Technical Field
The invention belongs to the technical field of shuttle vehicles, and relates to a shuttle vehicle navigation control method and system.
Background
Along with the expansion of production scale and the shortage of land resources, the application of the dense storage warehouse in the market is more and more extensive, the dense storage warehouse is based on a dense goods shelf, has the characteristics of high density and high sealing performance, and the operation of entering and exiting goods is completed by means of a shuttle car which reciprocates in the dense goods shelf.
The shuttle vehicle control technology applied to the dense storage system in the domestic market at present is not complete enough, and is particularly reflected in the aspect of speed control. The length of the dense goods shelf track is relatively short, so that the acceleration of the shuttle vehicle during the running of the goods shelf roadway directly determines the running efficiency of the system, however, under the condition of traditional uniform acceleration speed control, the increase of the acceleration brings certain influence on the stability of goods, and the running of the system is not stable enough under the condition of high acceleration.
Disclosure of Invention
The invention aims to provide a shuttle vehicle navigation control method and system, which solve the problem of unstable system operation under the condition of high acceleration.
In order to achieve the purpose, the basic scheme of the invention is a shuttle car navigation control method, which comprises the following steps:
acquiring position information and speed information of a plurality of four-way shuttles;
establishing an objective function based on the position information and the speed information, and setting constraint conditions, wherein the constraint conditions comprise elevator constraint and sequencing constraint;
and solving the objective function to generate a task execution plan of a plurality of four-way shuttles, obtaining the optimal solution output and controlling the shuttles.
The operating principle and the beneficial effects of the basic scheme are as follows: according to the scheme, the position information and the speed information are utilized to generate a subsequent required task execution plan, and a target function is established. And carrying out optimization solution on the target welding by using the constraint conditions to obtain the optimal solution output and control the shuttle car, thereby realizing automatic navigation control on the shuttle car and ensuring the stable operation of the shuttle car under the control of the optimal solution.
Further, the established objective function is:
and establishing a multi-objective function by minimizing the running time and the acceleration energy:
wherein the maximum value of the running time
(ii) a Maximum value of energy loss
(ii) a I is a shuttle index, I is the total number of shuttles, I =1,2,3 … … I; j is the task index, J is the total number of tasks, J =1,2,3 … … J;
the execution time of the shuttle vehicle i in the task j is;
is the stop time at task j for shuttle i, including the time to get in and get out of stock;
for the weight of the transport cargo of shuttle i at task j,
is the maximum speed of shuttle i during the transport of task j.
And an objective function is established, so that the shortest operation time and the minimum required number of four-way shuttles are ensured, and the cost is saved.
Further, the velocity is calculated
During the process, variable acceleration control is carried out on each four-way shuttle vehicle, the time required by the straight-going stage is ensured to be as little as possible, the speeds at the starting point, the corner and the ending point are zero, and the control is carried out between two points with the speed of zero:
the running time between two points with the speed being zero is divided into 4 sections, namely a stage from 0 to t1, a stage from t1 to t2, a stage from t2 to t3 and a stage from t3 to t 4;
0-t1 plus acceleration phase: gradually accelerates, and the speed is increased from 0 to
And the acceleration is gradually increased, the jerk is
；
t1-t2 deceleration phase: gradually accelerate at a speed of
Increase to
And the acceleration is gradually decreased until the acceleration is zero, the jerk is:
t2-t3 acceleration and deceleration stage: gradually reduce the speed from
Reduced to
And the acceleration gradually increases, the jerk being:
t3-t4 deceleration phase: gradually reduce the speed from
Decreasing to 0 and gradually decreasing acceleration, jerk being:
and the distance S between two points with the speed of zero satisfies the following conditions:
determining the fastest speed according to the distance of each task and the stability evaluation strategy
And determining the task execution time by the objective function.
And the system stability is ensured on the basis of increasing the acceleration by adopting a variable acceleration speed control mode.
Further, during operation, the stability assessment strategy is:
the stability coefficient is:
wherein the content of the first and second substances,
is the weight of the goods and is,
in order to be the weight of the shuttle car,
is the height of the cargo or cargo,
the height of the shuttle car is the height of the shuttle car,
in order to provide the shuttle with the area of the pallet,
the contact area between the goods and the shuttle vehicle bearing tray is shown, a is the acceleration of the shuttle vehicle, f is the friction coefficient between the goods and the shuttle vehicle bearing tray, and g is the gravity acceleration;
if coefficient of stabilityNIf the value is larger than the threshold value, the stability is better, and the acceleration can be continuously carried out;
if coefficient of stabilityNIf the speed is less than the threshold value, the acceleration is suspended, and the original speed is maintained.
And carrying out stability evaluation to further ensure the running stability of the shuttle.
Further, the method of setting the constraint condition is as follows:
and (3) restricting the hoisting machine:
wherein, K represents a set of the hoisting machines, K belongs to K, and K = { 1., nK };
indicating that the shuttle i is at task j and utilizing the kth elevator;
ordering constraint:
the shuttle can be driven to the position of the next task only after the previous task finishes the goods exchange:
wherein the content of the first and second substances,
the shuttle i finishes the operation time at task j;
starting operation time of the shuttle vehicle i at task j + 1;
is the transit time between task j and task j + 1;
And acquiring corresponding constraint conditions, solving the objective function and facilitating calculation.
Further, the method for generating the task execution plan of the shuttle vehicle comprises the following steps:
S1, initializing ant colony algorithm to generate multiple patrol ants, each of which is shuttle vehicle for executing, initializing all ants as 'successful' ants, and making the bonus profit of each ant be the maximum distance that the shuttle vehicle can travel
；
S2, if the termination condition is reached, executing step S6, if the termination condition is not reached, calculating the next feasible moving position of the ant, and selecting a task position every time the ant walks; if the ants finish the search, the construction of J tasks is finished, the bonus income obtained by the ants is calculated, the termination condition is that r ants finish the search, and r is less than or equal to the total number I of the vehicles passing through the lock;
s3, if the total bonus collected by an ant is less than the average bonus collected by the former ant, the search of the ant is considered to be successful, if the search of a certain ant is successful, the ant is used to update the average bonus, and the pheromone is updated;
s4, if the pheromone is used, making a decision on the next movement, from p 1 Point trend p 2 The probability of a point is:
wherein, the first and the second end of the pipe are connected with each other,
is p 1 Point trend p 2 Probability of a point, p 2 For an order p 1 The order that is available after execution,
is derived from p for ants 1 Point trend p 2 A corresponding pheromone value in the pheromone table;
s5, if the ant completes the search, allocating new task to the free ant, returning to the step S2;
and S6, outputting the task execution plan.
And generating a task execution plan by using an ant colony algorithm and using operation.
Further, the method of updating pheromones is as follows:
establishing an pheromone table, wherein the initial value of all values in the pheromone table is zero, and each time the pheromone needs to be updated, the pheromone is aimed at the current successful ants or ants
Updating the corresponding pheromone of the order existing in the solution, and keeping other unrelated order pheromones unchanged;
is the one with the smallest prize;
for bonus profit of
In an execution plan of
Is equal to
Wherein
The maximum distance that the shuttle can travel;
for the execution plan of successful ants, let
Is equal to
And g is the maximum bonus gain.
And the pheromone is updated, the ant colony algorithm is ensured to be smoothly carried out, the operation is simple, and the use is facilitated.
Further, solving the objective function adopts a genetic algorithm, an ant colony algorithm, a particle swarm algorithm, a decomposition-based multi-objective optimization algorithm or a differential evolution algorithm.
And selecting a proper algorithm according to the requirement, so that the method is convenient to use.
The invention also provides a shuttle car navigation control system which comprises a data acquisition module and a control module, wherein the data acquisition module is used for acquiring the position information and the speed information of a plurality of four-way shuttle cars, the output end of the data acquisition module is connected with the input end of the control module, the output end of the control module is connected with the control end of the shuttle car, and the control module executes the method to carry out the shuttle car navigation control.
The system establishes a target function, performs navigation control on the shuttle cars, ensures the operation time and the required number of the four-way shuttle cars, and saves the control cost. And meanwhile, the shuttle vehicle is controlled to optimally operate, so that unstable operation is avoided.
Drawings
FIG. 1 is a schematic flow diagram of a shuttle vehicle navigation control method of the present invention;
fig. 2 is a schematic structural diagram of the operation process of the shuttle car navigation control method.
Reference numerals in the drawings of the specification include: the system comprises a shuttle vehicle longitudinal track 1, a shuttle vehicle 2, an idle goods space 3, a shuttle vehicle reversing node 4, a shuttle vehicle transverse track 5, a hoisting machine 6 and a handover buffer area 7.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the invention.
In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection through an intermediate medium, and those skilled in the art will understand the specific meaning of the terms as they are used in the specific case.
The invention discloses a shuttle vehicle navigation control method, which solves the problem of unstable system operation under the condition of high acceleration. As shown in fig. 1 and 2, the shuttle car navigation control method in the present scheme includes the following steps:
the method comprises the steps that position information and speed information of a plurality of four-way shuttle cars are obtained, and the position information of each four-way shuttle car can be obtained by a positioning system carried by the shuttle car; the speed information can be obtained by a speed sensor arranged on the speed information;
establishing an objective function based on the position information and the speed information, and setting constraint conditions, wherein the constraint conditions comprise elevator constraint and sequencing constraint;
and solving the objective function to generate a task execution plan of a plurality of four-way shuttles, obtaining Pareto (Pareto Optimality, also called Pareto efficiency, which is an ideal state of resource allocation) optimal solution output and controlling the shuttles. Solving the objective function by adopting a genetic algorithm, an ant colony algorithm, a particle swarm algorithm, a multi-objective optimization algorithm based on decomposition, a differential evolution algorithm and the like. The structure of the shuttle vehicle 2 in the running process of the shuttle vehicle navigation control method comprises a shuttle vehicle longitudinal rail 1, the shuttle vehicle 2, an idle goods space 3, a shuttle vehicle reversing node 4, a shuttle vehicle transverse rail 5, a lifter 6 and a handover buffer area 7.
In a preferred embodiment of the present invention, the established objective function is:
and establishing a multi-objective function by minimizing the running time and the acceleration energy:
wherein the maximum value of the running time
(ii) a Maximum value of energy loss
(ii) a I is a shuttle index, I is the total number of shuttles, I =1,2,3 … … I; j is the task index, J is the total number of tasks, J =1,2,3 … … J;
the execution time of the shuttle vehicle i in the task j is;
the stop time of the shuttle vehicle i at task j comprises the time of loading and unloading;
for the weight of the transport cargo of shuttle i at task j,
is the maximum speed of shuttle i during the transport of task j.
Calculating speed
During the process, variable acceleration control is carried out on each four-way shuttle vehicle, the time required by the straight-going stage is ensured to be as little as possible, the speeds at the starting point, the corner and the ending point are zero, and the control is carried out between two points with the speed of zero:
the running time between two points with the speed being zero is divided into 4 sections, namely a stage from 0 to t1, a stage from t1 to t2, a stage from t2 to t3 and a stage from t3 to t 4; preferably, the time interval of each segment is the same, is
；
0-t1 plus acceleration phase: gradually accelerates, and the speed is increased from 0 to
And acceleration is gradually increased, jerk is
；
t1-t2 deceleration and acceleration phases: gradually accelerate at a speed of
Increase to
And the acceleration gradually decreases until the acceleration is zero, the jerk being:
t2-t3 acceleration and deceleration stage: gradually reduce the speed from
Reduced to
And the acceleration gradually increases, the jerk being:
t3-t4 deceleration phase: gradually reduce the speed from
Decreasing to 0 and the acceleration gradually decreases, the jerk being:
and the distance S between two points with the speed of zero satisfies the following conditions:
according to the distance of each task and the stability evaluation strategy, the fastest speed is determined
And determining the task execution time by the objective function. Therefore, the shuttle vehicle is guaranteed to operate quickly and stably, use is facilitated, and working efficiency is improved.
In a preferred embodiment of the present invention, during the operation process, the stability evaluation strategy is:
the stability coefficient is:
wherein, the first and the second end of the pipe are connected with each other,
is the weight of the goods and is,
in order to be the weight of the shuttle car,
is the height of the cargo or cargo to be transported,
the height of the shuttle car is the height of the shuttle car,
in order to provide the shuttle with the area of the pallet,
the contact area of the goods and the shuttle car bearing tray is shown, a is the acceleration of the shuttle car, f is the friction coefficient of the goods and the shuttle car bearing tray, and g is the gravity acceleration;
if coefficient of stabilityNIf the value is larger than the threshold (the value can be preset by using experimental specific measurement, and if the value is set to 1), the stability is better, and the acceleration can be continued;
if coefficient of stabilityNAnd if the speed is less than the threshold value, the acceleration is suspended, and the original speed is maintained.
In a preferred embodiment of the present invention, the method for setting the constraint condition includes:
and (3) restricting the hoisting machine:
wherein, K represents a set of the hoisting machines, K belongs to K, and K = { 1., nK };
indicating that the shuttle vehicle i is at the task j, and utilizing a kth hoister;
ordering constraint:
the shuttle can be driven to the position of the next task only after the previous task finishes the goods exchange:
wherein, the first and the second end of the pipe are connected with each other,
the shuttle i finishes the operation time at task j;
starting operation time of the shuttle vehicle i at task j + 1;
is the transit time between task j and task j + 1;
In a preferred embodiment of the present invention, the method for generating the task execution plan of the shuttle vehicle includes:
S1, initializing ant colony algorithm to generate multiple patrol ants, each of which is shuttle vehicle for executing, initializing all ants as successful ants, and making the bonus profit of each ant be the maximum distance that the shuttle vehicle can travel
；
S2, if the termination condition is reached, executing step S6, if the termination condition is not reached, calculating the feasible next moving position of the ant, and selecting a task position each time the ant walks; if the ants finish the search, the construction of J tasks is finished, the bonus income obtained by the ants is calculated, the termination condition is that r ants finish the search, and r is less than or equal to the total number I of the vehicles passing through the lock;
s3, if the total bonus collected by a ant is less than the average bonus collected by the former successful ant, the search of the ant is considered to be successful, if the search of a certain ant is successful, the ant is used to update the average bonus and update the pheromone;
s4, if the pheromone is used, making a decision on the next move, from p 1 Point trend p 2 The probability of a point is:
wherein, the first and the second end of the pipe are connected with each other,
is p 1 Point trend p 2 Probability of point, p 2 Is an order p 1 The order that is available after execution is executed,
is derived from p for ants 1 Point trend p 2 A corresponding pheromone value in the pheromone table;
s5, if the ant completes the search, allocating new task to the free ant, returning to the step S2;
and S6, outputting the task execution plan. The termination condition is that a set number of tasks are performed or that the difference between the previous and next solutions is less than an error.
The method of updating pheromones is as follows:
establishing an pheromone table, wherein the initial value of all values in the pheromone table is zero, and each time the pheromone needs to be updated, the pheromone is aimed at the current successful ants or ants
Updating the corresponding pheromone of the order existing in the solution, and keeping other unrelated order pheromones unchanged;
is the one with the smallest prize;
for bonus benefits are
In the execution plan of
Is equal to
Wherein
The maximum distance that the shuttle can travel is obtained;
for the execution plan of successful ants, let
Is equal to
And g is the maximum bonus gain.
The invention also provides a shuttle car navigation control system which comprises a data acquisition module and a control module, wherein the data acquisition module is used for acquiring the position information and the speed information of a plurality of four-way shuttle cars, the output end of the data acquisition module is electrically connected with the input end of the control module, the output end of the control module is electrically connected with the control end of the shuttle car, and the control module executes the method to carry out the shuttle car navigation control.
The scheme establishes the objective function, ensures the shortest operation time and the minimum required number of the four-way shuttle vehicles, and saves the cost. And a variable acceleration speed control mode is adopted, and the stability of the system is ensured on the basis of increasing the acceleration.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (5)
1. A shuttle car navigation control method is characterized by comprising the following steps:
acquiring position information and speed information of a plurality of four-way shuttles;
establishing an objective function based on the position information and the speed information, and setting constraint conditions, wherein the constraint conditions comprise elevator constraint and sequencing constraint;
solving the objective function to generate a task execution plan of a plurality of four-way shuttles, obtaining an optimal solution output and controlling the shuttles;
the established objective function is:
and establishing a multi-objective function by minimizing the running time and the acceleration energy:
minf(X)＝min{f 1 (X)，f 2 (X)}
wherein the maximum value of the running time f 1 ＝Max{T ij }-Min{t ij Maximum value of energy loss f 2 ＝Max{m ij ×V ij 2 }; the index is a shuttle car index, I is the total number of shuttle cars, and I is 1,2,3 … … I; j is the task index, J is the total number of tasks, J is 1,2,3 … … J; t is ij The execution time of the shuttle vehicle i in the task j is determined; t is t ij The stop time of the shuttle vehicle i at task j comprises the time of loading and unloading; m is a unit of ij Weight of cargo transported for shuttle i at task j, V ij Is the maximum speed of shuttle i during the transport of task j;
the method of setting the constraint conditions is as follows:
and (3) restricting the elevator:
the elevator system comprises a hoist, a controller and a controller, wherein K represents a set of the hoist, belongs to K, and belongs to { 1., nK }; x is a radical of a fluorine atom i，j，k Indicating that the shuttle i is at task j and utilizing the kth elevator;
ordering constraint:
the shuttle can be driven to the position of the next task only after the previous task finishes the goods exchange:
wherein e is i，j Ending the operation time for the shuttle i at the task j; q. q of i，j+1 Starting operation time of the shuttle vehicle i at task j + 1; e j，j+1 Is the transit time between task j and task j + 1;
m ij ≤T max ，m ij weight of cargo transported for shuttle i at task j, T max The maximum load of a shuttle vehicle;
the method for generating the task execution plan of the shuttle vehicle comprises the following steps:
s i,j distance to execute order j for shuttle i;
p ij executing a prize for order j for shuttle i equal to s i,j ；
S1, initializing an ant colony algorithm to generate a plurality of patrol ants, wherein each ant is a shuttle vehicle required by execution, initializing all ants as 'successful' ants, and enabling the bonus income of each ant to be the maximum distance maxlength which can be traveled by the shuttle vehicle;
s2, if the termination condition is reached, executing step S6, if the termination condition is not reached, calculating the next feasible moving position of the ant, and selecting a task position every time the ant walks; if the ants finish the search, namely the construction of J tasks is finished, the bonus income acquired by the ants is calculated, the termination condition is that r ants finish the search, and r is less than or equal to the total number I of the shuttles;
s3, if the total bonus collected by a ant is less than the average bonus collected by the former successful ant, the search of the ant is considered to be successful, if the search of a certain ant is successful, the ant is used to update the average bonus and update the pheromone;
s4, if the pheromone is used, making a decision on the next move, from p 1 Point trend p 2 Probability of a point:
wherein p is τ Is p 1 Point trend p 2 Probability of a point, p 2 Is an order p 1 The order that is available after execution is executed,
from p for ants 1 Point trend p 2 A corresponding pheromone value in the pheromone table;
s5, if the ant completes the search, assigning a new task to the idle ant, returning to step S2;
and S6, outputting the task execution plan.
2. The shuttle car navigation control method of claim 1, wherein the velocity V is calculated ij During the process, each four-way shuttle vehicle is subjected to variable acceleration control, the time required by the straight-going stage is ensured to be as little as possible, the speeds at the starting point, the corner and the end point are zero, and the control is carried out between two points with the zero speed:
the running time between two points with the speed being zero is divided into 4 sections, namely a stage from 0 to t1, a stage from t1 to t2, a stage from t2 to t3 and a stage from t3 to t 4;
0-t1 plus acceleration phase: gradually accelerates, the speed increases from 0 to v 1 And acceleration is gradually increased, jerk is J 1 ；
t1-t2 deceleration phase: gradually accelerates at a speed v 1 Increase to v 2 And the acceleration is gradually decreased until the acceleration is zero, the jerk is:
t2-t3 acceleration and deceleration stage: gradually reducing the speed by v 2 Decrease to v 1 And the acceleration gradually increases, the jerk being:
t3-t4 deceleration phase: gradually reduce the speed by v 1 Decreasing to 0 and gradually decreasing acceleration, jerk being:
and the distance S between two points with the speed of zero satisfies the following conditions:
determining the fastest speed v according to the distance of each task and a stability evaluation strategy 2 And determining the task execution time by the objective function.
3. The shuttle car navigation control method of claim 1, wherein the pheromone is updated by:
establishing an pheromone table, wherein the initial value of all values in the pheromone table is zero, and each time the pheromone needs to be updated, the pheromone is aimed at the current successful ants or ants
Updating the corresponding pheromone of the order existing in the solution, and keeping other unrelated order pheromones unchanged;
is the one with the smallest prize;
for bonus benefits are
In the execution plan of
Is equal to
Wherein maxlength is the maximum distance that the shuttle can travel;
for the execution plan of successful ants, let
Is equal to
g is the maximum bonus gain.
4. The shuttle car navigation control method of claim 1, wherein solving the objective function employs a genetic algorithm, or an ant colony algorithm, or a particle swarm algorithm, or a decomposition-based multi-objective optimization algorithm, or a differential evolution algorithm.
5. A shuttle car navigation control system is characterized by comprising a data acquisition module and a control module, wherein the data acquisition module is used for acquiring position information and speed information of a plurality of four-way shuttle cars, the output end of the data acquisition module is connected with the input end of the control module, the output end of the control module is connected with the control end of the shuttle car, and the control module executes the method of any one of claims 1 to 4 to conduct shuttle car navigation control.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210308612.1A CN114510062B (en) | 2022-03-28 | 2022-03-28 | Shuttle vehicle navigation control method and system |
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