Optimal location of dwell points in a single loop AGV system with time restrictions on vehicle availability

Since the workload of a manufacturing system changes over time, the material handling equipment used in the facility will be idle at certain time intervals to avoid system overload. In this context, a relevant control problem in operating an automated guided vehicle (AGV) system is where to locate idle vehicles. These locations, called dwell points, establish the response times for AVG requests. In this article, a dynamic programming algorithm to solve idle vehicle positioning problems in unidirectional single loop systems is developed to minimize the maximum response time considering restrictions on vehicle time available to travel and load/unload requests. This polynomial time algorithm finds optimal dwell points when all requests from a given pick-up station are handled by a single AGV. The proposed algorithm is used to study the change in maximum response time as a function of the number of vehicles in the system.     

面向电商终端物流配送的电动车配置与路径集成优化

在电子商务终端物流配送方面,存在能力与需求的矛盾。一方面,电动车存在货物容量约束和电池电量约束,配送能力有限;另一方面,一个物流配送点需要为众多的消费者进行门到门的配送,配送任务繁重。针对电子商务环境下终端物流配送规模大、电动车货物容量和行驶里程有限的问题,建立电商终端物流配送的电动车配置与路径规划集成优化模型,并提出一种基于临近城市列表的双策略蚁群算法,实现物流配送电动车辆配置与配送路径集成优化。该模型以电动车辆数最少和总路径最短为目标,以电动车货物容量和电池续航里程为约束,是带容量的车辆路径问题的进一步扩展,属于双容量约束路径规划问题。双策略蚁群算法在货物容量和续航里程的约束下,将蚁群搜索策略分为两类,即基于临近城市列表的局部搜索策略和全局搜索策略,在提高搜索效率的同时防止陷入局部优化。最后,通过阿里巴巴旗下菜鸟网络科技有限公司在上海的30组真实配送数据进行了测试,验证双策略蚁群算法显著优于一般蚁群算法。     

“货到人”拣选系统中电商订单分批优化研究

本文在电商行业迅速发展及人工智能日趋成熟的背景下,研究以自动导引车(AGV)为搬运工具的“货到人”拣选系统订单分批问题。首先以最小化AGV搬运货架次数为目标建立订单分批模型,然后提出了基于货架相似度的两阶段订单分批算法,在第一阶段分为新批次创建及订单加入批次两个步骤得到初始解;在第二阶段采用局部搜索改进初始解。在算法中构造订单选取货架规则,定义货架相似度函数并设计两种方法创建新批次,同时考虑周转箱数量限制求解订单分批方案。最后通过实验测试验证了模型和算法的有效性,分析了两种批次创建方法的适用性,并通过灵敏度分析给出了合理的周转箱数量配置建议。本研究可为采用“货到人”拣选系统的企业通过订单分批优化进一步提高AGV拣选效率提供理论依据和实践指导。     

磁浮列车的模糊反馈控制

为了进一步提高了列车的承载能力，本文利用电流互感器、间隙传感器和加速度表作为敏感元件，对悬浮系统进行反馈控制，并根据悬浮质量的不同，对反馈参数进行模糊调整。分析的结果表明，这种设计的模糊反馈控制器可以提高磁浮列车的承载能力。     

智能网联下无人车配送路径优化

结合智能网联无人车实时信息共享与路径选择的特点,研究其配送路径优化问题。通过引进关键点更新策略,制定路径预规划阶段和路径实时调整阶段无人车路径选择策略,提出智能网联环境下基于实时交通信息的车辆路径问题两阶段模型。其中,路径预规划阶段模型确定初始路径与每辆车服务的客户点,路径实时调整阶段模型对每辆车的路径实时调整。对于该优化模型设计遗传算法进行求解,并通过算例验证了模型与算法的可行性。研究结果表明,本文构建的无人车配送优化模型,有效的结合了无人车实时通信与路径选择的特点,节省了无人车配送时间。研究对于无人车在第三方物流配送领域的推广应用具有一定的探索意义。     

Dynamic transport scheduling under multiple resource constraints

This paper presents a heuristic for the dynamic vehicle scheduling problem with multiple resource capacity constraints. In the envisaged application, an automated transport system using Automated Guided Vehicles, bottleneck resources are (1) vehicles, (2) docks for loading/unloading, (3) vehicle parking places, and (4) load storage space. This problem is hard, because interrelated activities (loading, transportation, unloading) at several geographical locations have to be scheduled under multiple resource constraints, where the bottleneck resource varies over time. Besides, the method should be suitable for real-time planning. We developed a dedicated serial scheduling method and analyzed its dynamic behavior using discrete event simulation. We found that our method is very well able to find good vehicle schedules satisfying all resource constraints. For comparison, we used a simple approach where we left out the resource constraints and extended the processing times by statistically estimated waiting times to account for finite capacities. We found that our newly designed method finds better schedules in terms of service levels.     

时变单车路径优化模型及动态规划算法

车辆路径问题由于其广泛的应用领域及经济价值而成为学术研究热点。然而,在已有的研究文献中,车辆的速度时变与服务多任务特性很少被关注。本文讨论了具有这两个特性的单车路径优化问题。建立了以送货完成时间最早为优化目标的时变单车送货路径优化模型。由于很难获得该模型的精确解,本文提出了一种贪婪补货策略压缩原问题解空间,设计动态规划算法给出了车辆行驶时间满足FIFO规则的送货顺序近似最优解。数值算例验证了该算法所得到的解仅是原问题的近似最优解这一结论。算例同时表明优化配送时间随着车辆装载能力的增大而缩短,并在车辆装载能力超过所有客户配送总需求时实现最短配送时间,即,使用较大装载能力车辆能节约更多配送时间。     

Feed-forward modelling and fuzzy logic based control strategy for powertrain efficiency improvement in a parallel hybrid electric vehicle

With the stricter limitations on both fuel consumption and air pollution, the advantages of a hybrid electric vehicle are becoming more evident than ever. In the present study, an energy management system for a hybrid electric vehicle is developed. Because the plant under consideration is nonlinear, multi-domain, time-varying, has multiple uncertainties and, in addition, the designed control strategy must be able to obey the driver's commands and achieve the par-internship for a new generation of vehicle regulations, the fuzzy logic approach is chosen. A feed-forward hybrid vehicle simulation model is used to demonstrate the validity and the convenience of the current approach and its results have been compared with the other parallel hybrid electric vehicle control strategies. Simulation results show considerable improvement in the efficiency of the internal combustion engine and, consequently, fuel consumption and acceleration performances.     

A multilevel machine and vehicle scheduling in a flexible manufacturing system

The paper presents a multilevel decision model for simultaneous machine and vehicle scheduling in a flexible manufacturing system. The system is composed of various machine types and a set of automated guided vehicles that permit each part to move between any pair of machines. The upper level of the decision model involves machine loading and part routing for which a bicriterion integer formulation is presented with the objective of balancing machine workloads and intermachine flows of parts. The lower level involves simultaneous scheduling of machines and vehicles for which a period-by-period heuristic is proposed based on a family of complex dispatching rules. The scheduling objective is to meet all part type requirements in a minimum time. Computational examples are included to illustrate the approach proposed.     

成品油配送多车舱车辆指派及路径优化问题研究

针对成品油配送中多车型、多车舱的车辆优化调度难题,综合考虑多车型车辆指派、多车舱车辆装载及路径安排等决策,以派车成本与油耗成本之和的总成本最小为目标,建立了多车型多车舱的车辆优化调度模型。为降低模型求解的复杂性,本文提出一种基于C-W节约算法的“需求拆分→合并装载”的车辆装载策略,并综合利用Relocate和Exchange算子进行并行邻域搜索改进,获得优化的成品油配送方案。最后,通过算例验证了本文提出的模型与算法用于求解大规模成品油配送问题的有效性。并通过数据实验揭示了以下规律:1)多车舱车辆相对于单车舱车辆在运营成本上具有优越性;2)大型车辆适合远距离配送,小型车辆适合近距离配送;3)多车型车辆混合配送相对于单车型车辆配送在运营成本上具有优越性。这些规律可为成品油配送公司的车辆配置提供决策参考。     

The development of modular-based design in considering technology complexity

Applying modularity in the designing of products has been extensively researched recently to reduce the delay of product development. This paper presents a methodology of modular-based design in the conceptual stage of systems to support concurrent engineering (CE). First, the functions (Fs) are classified into different types of modules according to the correlation in design by using fuzzy cluster identification. Second, the optimal module type is selected based on the considerations of the manufacture and assembly complexities of the system for progressive parallel design. Third, the design priority of Fs within a module is scheduled by measuring the information content of Fs. As a result, the traditional design process is arranged as a series-parallel action to reduce the design time of products. Finally, an automated guided vehicle (AGV) system is used as an example to describe this method.     

A partition approach to the inventory/routing problem

In this study we focus on the integration of inventory control and vehicle routing schedules for a distribution system in which the warehouse is responsible for the replenishment of a single item to the retailers with demands occurring at a specific constant (but retailer-dependent) rate, combining deliveries into efficient routes. This research proposes a fixed partition policy for this type of problem, in which the replenishment interval of each of the retailers’ partition region as well as the warehouse is accorded the power of two (POT) principle. A lower bound of the long-run average cost of any feasible strategy for the considered distribution system is drawn. And a tabu search algorithm is designed to find the retailers’ optimal partition regions under the fixed partition policy proposed. Computational results reveal the effectiveness of the policy as well as of the algorithm.     

考虑外协服务的车辆路径优化问题

降低零售企业的末端配送成本是控制物流成本的关键,共享经济的发展为此提供了新思路。因此,针对零售企业末端上门配送服务成本较高的情况,提出了考虑外协的车辆服务策略,将有意愿进行单次交付的线下客户作为协作车辆配合普通车辆来完成线上客户订单的配送,建立了以最小化普通车辆路径成本,普通车辆使用成本,时间窗惩罚成本和协作车辆补偿成本为目标函数的数学模型,并设计匹配算法和混合遗传算子的模拟退火算法对该模型进行求解,最后结合算例对提出的算法进行检验与分析。     

Dual track and segmented single track bidirectional loop guidepath layout for AGV systems

In this study, we develop integer programming models for simultaneous design of the guidepath track and location of the pickup and dropoff stations for automated guided vehicle systems. Two alternative bidirectional topologies are compared: a dual track loop, and a single track loop partitioned into non-overlapping segments, each served by a single vehicle. We show that the empty vehicle trips have a significant impact on the quality of design in both topologies. More importantly, we identify the difference between empty flow node balancing for a dual track loop with the empty flow edge balancing on a single track loop subject to segmentation. Our work presents an economic decision making model for the trade-off analysis between the costs associated with the additional shop floor space of a dual track loop and the increased vehicle fleet size of a segmented single track loop.     

An exact algorithm for a single-vehicle routing problem with time windows and multiple routes

This paper describes an exact algorithm for solving a problem where the same vehicle performs several routes to serve a set of customers with time windows. The motivation comes from the home delivery of perishable goods, where vehicle routes are short and must be combined to form a working day. A method based on an elementary shortest path algorithm with resource constraints is proposed to solve this problem. The method is divided into two phases: in the first phase, all non-dominated feasible routes are generated; in the second phase, some routes are selected and sequenced to form the vehicle workday. Computational results are reported on Euclidean problems derived from benchmark instances of the classical vehicle routing problem with time windows.     

Exact and heuristic procedures for the material handling circular flow path design problem

In this study we develop optimization, decomposition, and heuristic procedures to design a unidirectional loop flow pattern along with the pickup and delivery station locations for unit load automated material handling vehicles. The layout of the facility is fixed, the edges on the boundary of the manufacturing cells are candidates to form the unidirectional loop flow path, and a set of nodes located at an intermediate point on each edge are candidates for pickup and delivery stations of the cell formed by those edges. The objective is to minimize the total loaded and empty vehicle trip distances. The empty vehicle dispatching policy underlying the model is the shortest trip distance first. A binary integer programming model describes the problem of determining the flow path and locations of the pickup and delivery stations in which we then provide a decomposition procedure based on a loop enumeration strategy coupled with a streamlined integer linear programming model. It is shown that only a small proportion of all loops have to be enumerated to reach an optimum. Therefore a truncated version of this algorithm should yield a good heuristic. Finally we propose a neighbourhood search heuristic method and report on its performance.     

Design models for unit load storage and retrieval systems using autonomous vehicle technology and resource conserving storage and dwell point policies

Computationally efficient design conceptualization models are proposed for automated unit load storage and retrieval systems based on autonomous vehicle technology. Vehicle and lift travel times and the probability distribution for 12 service scenarios occurring under realistic operating assumptions are formulated and used to generate expected transaction service times. Additional measures of system performance including transaction waiting time and vehicle utilization are formulated for systems using random storage and point-of-service-completion dwell point rules. The models provide a practical means of predicting key aspects of system performance based on five design variables that drive the majority of system costs. They are illustrated in the context of a conceptualization study adapted from an actual system installation.     

考虑路径冲突的AGV配置与调度优化

合理调度有限的码头资源以满足船舶的装卸时间要求是自动化集装箱码头的重要目标之一。针对自动化集装箱码头自动导引车(automated guided vehicle,AGV)配置与调度问题,考虑船舶装卸时间要求和AGV运输过程中的路径冲突,提出分阶段调度策略。将船舶装卸作业分为卸船阶段、装卸同步阶段、装船阶段三个阶段,在每个阶段中,建立以最小化最大完工时间和最小化AGV空载和等待时间为双目标的调度优化模型,并设计基于NSGA-Ⅱ的启发式算法求解。根据本阶段的实际完工时间,从最优解集中选择下一阶段AGV的配置与调度方案。最后对比其他调度方案表明本文调度方案能够满足集装箱船的装卸时间要求,且提高了AGV的利用率,更符合码头实际作业要求。     

Performance evaluation of distribution strategies for the inventory routing problem

Direct shipping strategy is an easy-to-implement distribution strategy frequently used in industrial distribution systems. In this paper, an analytic method is developed for performance evaluation of the strategy for the infinite horizon inventory routing problem with delivery frequency constraint. With the method, the effectiveness of direct shipping strategy can be represented as a function of some system parameters. We demonstrate that the effectiveness of direct shipping is at least the square root of the smallest utilization ratio of vehicle capacity. This implies that the effectiveness of the strategy can reach 100% (respectively, 94.86%) whenever the demand rate of each retailer is 100% (respectively, 90%) of the vehicle capacity multiplied by the upper bound of the delivery frequency. This insight can help a firm answer questions such as: under what conditions direct shipping strategy is effective and why, and how effective the strategy is under a specific condition? In case direct shipping strategy is proven ineffective, a more general Fixed Partition Policy (FPP) that combines direct shipping strategy and multiple-stop shipping strategy must be used. An analytic method is also developed for performance evaluation of general FPPs. We demonstrate that the effectiveness of an FPP depends on the total demand rate of the retailers in each partition (each retailer set) and their closeness level. This insight provides a useful guideline to the design of effective FPPs. The analytic methods make the performance improvement of a distribution system possible through adjusting its system parameters.     

Tracking control of nonlinear chaotic systems with dynamics uncertainties

This paper deals with the tracking control of nonlinear chaotic systems with dynamics uncertainties. A robust control strategy is developed to control a class of nonlinear chaotic systems with uncertainties. The proposed strategy is an input-output control scheme which comprises an uncertainty estimator and a linearizing-like feedback. The control time is explicitly computed. Computer simulations of the Duffing system are provided to verify the validity of the proposed control scheme.