The invention discloses a parking lot AGV scheduling algorithm realized by a multi-agent cooperative control method, and the algorithm comprises the steps: firstly, initializing an algorithm scene through inputting static map information of a parking lot and a task list needing to be executed by an AGV; secondly, outputting an optimal task route for each AGV through a strategy network trained by a designed collision penalty function, an energy consumption penalty function and a task reward function; and finally, the plurality of AGVs cooperate with each other, and a specified task is realized according to the allocated task route. Therefore, scheduling of the multiple AGVs under different tasks can be achieved, energy consumption of the AGVs in the working process is minimized through the designed control method, and therefore the scheduling cost is optimized to the maximum extent on the premise that the scheduling tasks are completed.
本发明公开了一种多智能体合作控制方法实现的停车场AGV调度算法,首先,本发明通过输入停车场的静态地图信息以及AGV需要执行的任务列表来初始化算法场景;其次由设计的碰撞惩罚函数、能耗惩罚函数、任务奖励函数所训练出来的策略网络为每一台AGV输出一条最优的任务路线;最后,多辆AGV互相合作,根据分配的任务路线实现指定的任务。由此,本发明不仅可以实现多辆AGV在不同任务下的调度,而且通过设计的控制方法最小化AGV在工作过程中的能耗,从而在完成调度任务的前提下最大程度上优化调度成本。
Parking lot AGV scheduling algorithm realized by multi-agent cooperation control method
一种多智能体合作控制方法实现的停车场AGV调度算法
20.09.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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