基于多機自律協同的柔性作業移動機器人調度 | 華中科技大學學報（自然科學版）

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華中科技大學學報（自然科學版） 2020, Vol. 48 Issue (12): 1-7 DOI10.13245/j.hust.201201

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欄目：自動化技術

基于多機自律協同的柔性作業移動機器人調度

王書亭，景偉，蔣立泉，謝遠龍

華中科技大學機械科學與工程學院，湖北武漢 430074

摘要針對柔性作業多移動機器人調度面臨的任務分配難以滿足多屬性需求、路徑規劃難以解決多機無沖突協同作業等問題，提出了基于多機自律協同的調度方法．一方面，根據自動換料、充電等常規任務與非均衡突發任務約束，提出了基于機床、任務和多機狀態域的動態加權指派法，實現了多屬性自趨優的靈活應變機制；另一方面，考慮位置、時間雙維度沖突特征，設計了基于離散時間步的帶權有向流網絡，利用改進A*尋優算法完成了無碰撞路徑搜索，繼而設計了基于離散時間窗的在線沖突檢測策略．測試結果表明：所提出的動態加權指派法具有更優越的任務分配綜合評價性能，同時改進的路徑規劃算法能解決多移動機器人路徑沖突檢測問題．

關鍵詞移動機器人；柔性作業；調度方法；任務分配；路徑規劃；自律協同

Flexible job shop scheduling based on multiple mobile robots autonomous collaboration

WANG Shuting ， JING Wei ， JIANG Liquan ， XIE Yuanlong

School of Mechanical Science and Engineering，Huazhong University of Science and Technology，Wuhan 430074，China

Abstract A scheduling method based on the autonomous collaboration of multiple mobile robots was proposed to achieve task assignment with multi-attribute demand and path planning for achieving conflict-free cooperative operation．Based on the machine tool state domain，task state domain and multi-machine state domain，the dynamic weighted assignment method was studied according to the constraints of conventional tasks．The constraints include automatic loading and charging and the non-equilibrium burst task．In this way，the flexible strain mechanism with multi-attribute self-optimization can be realized．Considering the conflict characteristics of spatial position and moving time，a weighted extended flow network was designed on the basis of discrete time steps．Then，the improved A* optimization algorithm with an online conflict detection strategy was proposed to realize the non-collision path search．The test results show that the dynamic weighted assignment method has better performance for task allocation and comprehensive evaluation．Meanwhile，the enhanced path planning algorithm can effectively solve the path conflict detection issue．

Keywords mobile robots ; flexible job ; scheduling method ; task assignment ; path planning ; autonomous collaboration

基金資助國家自然科學基金資助項目(51675197)；中國博士后科學基金面上項目(2019M650179)；湖北省技術創新專項重大項目(2018AAA027)．

中圖分類號TP242.6

文獻標志碼A

文章編號1671-4512(2020)12-0001-07

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文獻來源

王書亭, 景偉, 蔣立泉, 謝遠龍. 基于多機自律協同的柔性作業移動機器人調度[J]. 華中科技大學學報（自然科學版）, 2020, 48(12): 1-7
DOI:10.13245/j.hust.201201

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