{"id":1405,"date":"2026-04-07T17:30:00","date_gmt":"2026-04-07T09:30:00","guid":{"rendered":"http:\/\/www.sdjxsjy.com\/?p=1405"},"modified":"2026-04-07T13:52:03","modified_gmt":"2026-04-07T05:52:03","slug":"%e5%9f%ba%e4%ba%8e%e5%8a%a8%e6%80%81%e4%bc%98%e5%85%88%e7%ba%a7%e4%b8%8e%e6%97%b6%e7%a9%ba%e8%b5%84%e6%ba%90%e5%88%86%e9%85%8d%e7%9a%84agv%e9%9b%86%e7%be%a4%e8%b7%af%e5%be%84%e8%a7%84%e5%88%92","status":"publish","type":"post","link":"http:\/\/www.sdjxsjy.com\/?p=1405","title":{"rendered":"\u57fa\u4e8e\u52a8\u6001\u4f18\u5148\u7ea7\u4e0e\u65f6\u7a7a\u8d44\u6e90\u5206\u914d\u7684AGV\u96c6\u7fa4\u8def\u5f84\u89c4\u5212\u4e0e\u4ea4\u901a\u7ba1\u5236\u534f\u540c\u4f18\u5316\u7b97\u6cd5\u7814\u7a76"},"content":{"rendered":"\n

<\/h2>\n\n\n\n

\u968f\u7740\u667a\u80fd\u4ed3\u50a8\u548c\u67d4\u6027\u5236\u9020\u7cfb\u7edf\u7684\u5feb\u901f\u53d1\u5c55\uff0c\u591a\u81ea\u52a8\u5bfc\u5f15\u8f66\uff08AGV\uff09\u96c6\u7fa4\u7cfb\u7edf\u7684\u8def\u5f84\u89c4\u5212\u4e0e\u4ea4\u901a\u7ba1\u5236\u95ee\u9898\u5df2\u6210\u4e3a\u5236\u7ea6\u7cfb\u7edf\u6548\u7387\u7684\u5173\u952e\u74f6\u9888\u3002\u4f20\u7edf\u65b9\u6cd5\u5c06\u8def\u5f84\u89c4\u5212\u4e0e\u4ea4\u901a\u7ba1\u5236\u5206\u79bb\u5904\u7406\uff0c\u96be\u4ee5\u5728\u590d\u6742\u52a8\u6001\u73af\u5883\u4e2d\u5b9e\u73b0\u5168\u5c40\u6700\u4f18\u3002\u672c\u6587\u63d0\u51fa\u4e00\u79cd\u57fa\u4e8e\u52a8\u6001\u4f18\u5148\u7ea7\u4e0e\u65f6\u7a7a\u8d44\u6e90\u5206\u914d\u7684\u534f\u540c\u4f18\u5316\u7b97\u6cd5\uff08DP-STCO\uff09\uff0c\u901a\u8fc7\u6784\u5efa\u7edf\u4e00\u7684\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\uff0c\u5c06\u8def\u5f84\u89c4\u5212\u4e0e\u4ea4\u901a\u7ba1\u5236\u7eb3\u5165\u540c\u4e00\u4f18\u5316\u6846\u67b6\u3002\u7b97\u6cd5\u91c7\u7528\u5206\u5c42\u9012\u9636\u67b6\u6784\uff1a\u4e0a\u5c42\u57fa\u4e8e\u6539\u8fdbA*\u7b97\u6cd5\u8fdb\u884c\u5168\u5c40\u8def\u5f84\u9884\u89c4\u5212\uff0c\u4e0b\u5c42\u91c7\u7528\u6eda\u52a8\u65f6\u57df\u63a7\u5236\u7b56\u7565\u5b9e\u73b0\u5b9e\u65f6\u51b2\u7a81\u6d88\u89e3\u4e0e\u52a8\u6001\u4f18\u5148\u7ea7\u8c03\u6574\u3002\u4eff\u771f\u7ed3\u679c\u8868\u660e\uff0c\u8be5\u65b9\u6cd5\u5728300\u53f0AGV\u30012000\u4e2a\u8282\u70b9\u7684\u4ed3\u50a8\u573a\u666f\u4e0b\uff0c\u5e73\u5747\u4efb\u52a1\u5b8c\u6210\u65f6\u95f4\u964d\u4f4e18.6%\uff0c\u6b7b\u9501\u7387\u964d\u81f30.17%\uff0c\u4f18\u4e8e\u4f20\u7edf\u5206\u5c42\u63a7\u5236\u65b9\u6cd5\u3002<\/p>\n\n\n\n

\n\n\n\n

1 \u5f15\u8a00<\/h2>\n\n\n\n

\u81ea\u52a8\u5bfc\u5f15\u8f66\uff08Automated Guided Vehicle, AGV\uff09\u4f5c\u4e3a\u667a\u80fd\u7269\u6d41\u7cfb\u7edf\u7684\u6838\u5fc3\u6267\u884c\u5355\u5143\uff0c\u5df2\u5728\u6e2f\u53e3\u81ea\u52a8\u5316\u3001\u667a\u80fd\u4ed3\u50a8\u3001\u67d4\u6027\u5236\u9020\u7b49\u9886\u57df\u5f97\u5230\u5e7f\u6cdb\u5e94\u7528\u3002\u968f\u7740\u4f5c\u4e1a\u89c4\u6a21\u7684\u6269\u5927\uff0c\u5355AGV\u72ec\u7acb\u8fd0\u884c\u7684\u6a21\u5f0f\u5df2\u65e0\u6cd5\u6ee1\u8db3\u5b9e\u9645\u9700\u6c42\uff0c\u591aAGV\u96c6\u7fa4\u534f\u540c\u4f5c\u4e1a\u6210\u4e3a\u5fc5\u7136\u9009\u62e9\u3002\u7136\u800c\uff0c\u591aAGV\u7cfb\u7edf\u9762\u4e34\u7684\u6838\u5fc3\u6311\u6218\u5728\u4e8e\uff1a\u5982\u4f55\u5728\u6709\u9650\u7684\u8def\u7f51\u8d44\u6e90\u4e2d\uff0c\u540c\u65f6\u4e3a\u6570\u767e\u53f0AGV\u89c4\u5212\u65e0\u51b2\u7a81\u3001\u9ad8\u6548\u7387\u7684\u8fd0\u884c\u8def\u5f84\uff0c\u5e76\u5728\u8fd0\u884c\u8fc7\u7a0b\u4e2d\u5b9e\u65bd\u6709\u6548\u7684\u4ea4\u901a\u7ba1\u5236\u3002<\/p>\n\n\n\n

\u4f20\u7edf\u7814\u7a76\u901a\u5e38\u5c06\u8def\u5f84\u89c4\u5212\u4e0e\u4ea4\u901a\u7ba1\u5236\u89c6\u4e3a\u4e24\u4e2a\u72ec\u7acb\u95ee\u9898\u3002\u8def\u5f84\u89c4\u5212\u4fa7\u91cd\u4e8e\u4e3a\u6bcf\u53f0AGV\u5bfb\u627e\u4ece\u8d77\u70b9\u5230\u7ec8\u70b9\u7684\u6700\u4f18\u6216\u53ef\u884c\u8def\u5f84\uff0c\u5e38\u89c1\u65b9\u6cd5\u5305\u62ecA*\u7b97\u6cd5\u3001Dijkstra\u7b97\u6cd5\u3001\u5feb\u901f\u63a2\u7d22\u968f\u673a\u6811\uff08RRT\uff09\u7b49\uff1b\u4ea4\u901a\u7ba1\u5236\u5219\u5173\u6ce8\u8fd0\u884c\u8fc7\u7a0b\u4e2d\u7684\u51b2\u7a81\u68c0\u6d4b\u4e0e\u6d88\u89e3\uff0c\u5178\u578b\u7b56\u7565\u5305\u62ec\u8282\u70b9\u5360\u7528\u63a7\u5236\u3001\u533a\u57df\u9501\u3001\u4ea4\u901a\u4fe1\u53f7\u706f\u7b49\u3002\u8fd9\u79cd\u5206\u79bb\u5f0f\u5904\u7406\u65b9\u6cd5\u5b58\u5728\u660e\u663e\u7f3a\u9677\uff1a\u8def\u5f84\u89c4\u5212\u672a\u8003\u8651\u52a8\u6001\u4ea4\u901a\u72b6\u51b5\uff0c\u53ef\u80fd\u5bfc\u81f4\u89c4\u5212\u51fa\u7684\u8def\u5f84\u5728\u7406\u8bba\u4e0a\u6700\u4f18\u4f46\u5728\u5b9e\u9645\u8fd0\u884c\u4e2d\u9891\u7e41\u62e5\u5835\uff1b\u4ea4\u901a\u7ba1\u5236\u4f5c\u4e3a\u88ab\u52a8\u54cd\u5e94\u673a\u5236\uff0c\u7f3a\u4e4f\u5bf9\u5168\u5c40\u4ea4\u901a\u6d41\u7684\u4e3b\u52a8\u8c03\u8282\u80fd\u529b\u3002<\/p>\n\n\n\n

\u8fd1\u5e74\u6765\uff0c\u90e8\u5206\u5b66\u8005\u5f00\u59cb\u63a2\u7d22\u534f\u540c\u4f18\u5316\u7684\u53ef\u80fd\u6027\u3002\u6587\u732e[1]\u5c06\u591aAGV\u8def\u5f84\u89c4\u5212\u5efa\u6a21\u4e3a\u591a\u667a\u80fd\u4f53\u8def\u5f84\u5bfb\u627e\uff08MAPF\uff09\u95ee\u9898\uff0c\u91c7\u7528\u57fa\u4e8e\u51b2\u7a81\u7684\u641c\u7d22\u7b97\u6cd5\u6c42\u89e3\uff1b\u6587\u732e[2]\u5f15\u5165\u4ea4\u901a\u6d41\u7406\u8bba\uff0c\u5c06AGV\u96c6\u7fa4\u89c6\u4e3a\u8fde\u7eed\u4ecb\u8d28\u8fdb\u884c\u5206\u6790\uff1b\u6587\u732e[3]\u91c7\u7528\u6df1\u5ea6\u5f3a\u5316\u5b66\u4e60\u65b9\u6cd5\u8bad\u7ec3\u534f\u540c\u7b56\u7565\u3002\u7136\u800c\uff0c\u73b0\u6709\u65b9\u6cd5\u5728\u5927\u89c4\u6a21\u3001\u9ad8\u52a8\u6001\u573a\u666f\u4e0b\u4ecd\u9762\u4e34\u8ba1\u7b97\u590d\u6742\u5ea6\u8fc7\u9ad8\u3001\u5b9e\u65f6\u6027\u4e0d\u8db3\u7b49\u95ee\u9898\u3002<\/p>\n\n\n\n

\u672c\u6587\u63d0\u51fa\u4e00\u79cd\u52a8\u6001\u4f18\u5148\u7ea7\u4e0e\u65f6\u7a7a\u8d44\u6e90\u5206\u914d\u534f\u540c\u4f18\u5316\u7b97\u6cd5\uff08Dynamic Priority and Spatiotemporal Coordination Optimization, DP-STCO\uff09\uff0c\u6838\u5fc3\u8d21\u732e\u5305\u62ec\uff1a\uff081\uff09\u6784\u5efa\u7edf\u4e00\u7684\u65f6\u7a7a\u8d44\u6e90\u6a21\u578b\uff0c\u5c06\u8def\u5f84\u89c4\u5212\u4e0e\u4ea4\u901a\u7ba1\u5236\u8f6c\u5316\u4e3a\u8d44\u6e90\u5206\u914d\u95ee\u9898\uff1b\uff082\uff09\u8bbe\u8ba1\u52a8\u6001\u4f18\u5148\u7ea7\u8ba1\u7b97\u673a\u5236\uff0c\u5b9e\u73b0\u51b2\u7a81\u573a\u666f\u4e0b\u7684\u81ea\u9002\u5e94\u51b3\u7b56\uff1b\uff083\uff09\u63d0\u51fa\u6eda\u52a8\u65f6\u57df\u534f\u540c\u4f18\u5316\u6846\u67b6\uff0c\u5e73\u8861\u5168\u5c40\u6700\u4f18\u6027\u4e0e\u5b9e\u65f6\u54cd\u5e94\u80fd\u529b\u3002<\/p>\n\n\n\n

\n\n\n\n

2 \u95ee\u9898\u63cf\u8ff0\u4e0e\u5efa\u6a21<\/h2>\n\n\n\n

2.1 \u7cfb\u7edf\u67b6\u6784\u4e0e\u57fa\u672c\u5047\u8bbe<\/h3>\n\n\n\n

\u8003\u8651\u4e00\u4e2a\u6709\u5411\u56fe\u8def\u7f51\u6a21\u578b G<\/mi>=<\/mo>(<\/mo>V<\/mi>,<\/mo>E<\/mi>)<\/mo><\/mrow><\/semantics><\/math>G<\/em>=(V<\/em>,E<\/em>)\uff0c\u5176\u4e2d V<\/mi>=<\/mo>{<\/mo>v<\/mi>1<\/mn><\/msub>,<\/mo>v<\/mi>2<\/mn><\/msub>,<\/mo>.<\/mi>.<\/mi>.<\/mi>,<\/mo>v<\/mi>n<\/mi><\/msub>}<\/mo><\/mrow><\/semantics><\/math>V<\/em>={v<\/em>1\u200b,v<\/em>2\u200b,…,v<\/em>n<\/em>\u200b} \u8868\u793a\u8282\u70b9\uff08\u8def\u5f84\u4ea4\u53c9\u70b9\u3001\u7ad9\u70b9\uff09\uff0cE<\/mi>=<\/mo>{<\/mo>e<\/mi>i<\/mi>j<\/mi><\/mrow><\/msub>\u2223<\/mi>v<\/mi>i<\/mi><\/msub>,<\/mo>v<\/mi>j<\/mi><\/msub>\u2208<\/mo>V<\/mi>}<\/mo><\/mrow><\/semantics><\/math>E<\/em>={e<\/em>ij<\/em>\u200b\u2223v<\/em>i<\/em>\u200b,v<\/em>j<\/em>\u200b\u2208V<\/em>} \u8868\u793a\u6709\u5411\u8fb9\uff08\u884c\u9a76\u8def\u5f84\u6bb5\uff09\u3002\u7cfb\u7edf\u4e2d\u6709 K<\/mi><\/mrow><\/semantics><\/math>K<\/em> \u53f0AGV\uff0c\u8bb0\u4e3a A<\/mi>=<\/mo>{<\/mo>a<\/mi>1<\/mn><\/msub>,<\/mo>a<\/mi>2<\/mn><\/msub>,<\/mo>.<\/mi>.<\/mi>.<\/mi>,<\/mo>a<\/mi>K<\/mi><\/msub>}<\/mo><\/mrow><\/semantics><\/math>A<\/em>={a<\/em>1\u200b,a<\/em>2\u200b,…,a<\/em>K<\/em>\u200b}\u3002\u6bcf\u53f0AGV a<\/mi>k<\/mi><\/msub><\/mrow><\/semantics><\/math>a<\/em>k<\/em>\u200b \u88ab\u5206\u914d\u8fd0\u8f93\u4efb\u52a1 T<\/mi>k<\/mi><\/msub>=<\/mo>(<\/mo>s<\/mi>k<\/mi><\/msub>,<\/mo>g<\/mi>k<\/mi><\/msub>,<\/mo>t<\/mi>k<\/mi>r<\/mi>e<\/mi>l<\/mi>e<\/mi>a<\/mi>s<\/mi>e<\/mi><\/mrow><\/msubsup>)<\/mo><\/mrow><\/semantics><\/math>T<\/em>k<\/em>\u200b=(s<\/em>k<\/em>\u200b,g<\/em>k<\/em>\u200b,t<\/em>k<\/em>re<\/em>l<\/em>e<\/em>a<\/em>se<\/em>\u200b)\uff0c\u5176\u4e2d s<\/mi>k<\/mi><\/msub><\/mrow><\/semantics><\/math>s<\/em>k<\/em>\u200b \u4e3a\u8d77\u70b9\uff0cg<\/mi>k<\/mi><\/msub><\/mrow><\/semantics><\/math>g<\/em>k<\/em>\u200b \u4e3a\u76ee\u6807\u70b9\uff0ct<\/mi>k<\/mi>r<\/mi>e<\/mi>l<\/mi>e<\/mi>a<\/mi>s<\/mi>e<\/mi><\/mrow><\/msubsup><\/mrow><\/semantics><\/math>t<\/em>k<\/em>re<\/em>l<\/em>e<\/em>a<\/em>se<\/em>\u200b \u4e3a\u4efb\u52a1\u91ca\u653e\u65f6\u95f4\u3002<\/p>\n\n\n\n

\u57fa\u672c\u5047\u8bbe\uff1a\uff081\uff09\u6240\u6709AGV\u5177\u6709\u76f8\u540c\u7684\u8fd0\u52a8\u5b66\u7279\u6027\uff0c\u5300\u901f\u884c\u9a76\u4e14\u901f\u5ea6\u6052\u5b9a\uff1b\uff082\uff09\u8282\u70b9\u5bb9\u91cf\u4e3a1\uff0c\u5373\u540c\u4e00\u65f6\u523b\u6700\u591a\u5141\u8bb8\u4e00\u53f0AGV\u5360\u7528\uff1b\uff083\uff09\u8fb9\u5141\u8bb8\u53cc\u5411\u901a\u884c\u4f46\u540c\u4e00\u65f6\u523b\u4ec5\u5141\u8bb8\u5355\u65b9\u5411\u5360\u7528\uff1b\uff084\uff09AGV\u4f4d\u7f6e\u3001\u901f\u5ea6\u7b49\u72b6\u6001\u4fe1\u606f\u53ef\u5b9e\u65f6\u83b7\u53d6\uff1b\uff085\uff09\u4e0d\u8003\u8651AGV\u7684\u5145\u7535\u3001\u6545\u969c\u7b49\u5f02\u5e38\u4e8b\u4ef6\u3002<\/p>\n\n\n\n

2.2 \u65f6\u7a7a\u8d44\u6e90\u6a21\u578b<\/h3>\n\n\n\n

\u5c06\u8def\u5f84\u89c4\u5212\u4e0e\u4ea4\u901a\u7ba1\u5236\u7edf\u4e00\u63cf\u8ff0\u4e3a\u65f6\u7a7a\u8d44\u6e90\u5206\u914d\u95ee\u9898\u3002\u5b9a\u4e49\u65f6\u7a7a\u8d44\u6e90\u5355\u5143 R<\/mi>(<\/mo>v<\/mi>,<\/mo>t<\/mi>)<\/mo><\/mrow><\/semantics><\/math>R<\/em>(v<\/em>,t<\/em>) \u8868\u793a\u8282\u70b9 v<\/mi><\/mrow><\/semantics><\/math>v<\/em> \u5728\u65f6\u523b t<\/mi><\/mrow><\/semantics><\/math>t<\/em> \u7684\u5360\u7528\u72b6\u6001\uff0cR<\/mi>(<\/mo>e<\/mi>,<\/mo>[<\/mo>t<\/mi>1<\/mn><\/msub>,<\/mo>t<\/mi>2<\/mn><\/msub>]<\/mo>)<\/mo><\/mrow><\/semantics><\/math>R<\/em>(e<\/em>,[t<\/em>1\u200b,t<\/em>2\u200b]) \u8868\u793a\u8fb9 e<\/mi><\/mrow><\/semantics><\/math>e<\/em> \u5728\u65f6\u95f4\u533a\u95f4 [<\/mo>t<\/mi>1<\/mn><\/msub>,<\/mo>t<\/mi>2<\/mn><\/msub>]<\/mo><\/mrow><\/semantics><\/math>[t<\/em>1\u200b,t<\/em>2\u200b] \u7684\u5360\u7528\u72b6\u6001\u3002\u6bcf\u53f0AGV\u7684\u8fd0\u884c\u8f68\u8ff9\u53ef\u8868\u793a\u4e3a\u65f6\u7a7a\u8d44\u6e90\u8bf7\u6c42\u5e8f\u5217\uff1a\u03c0<\/mi>k<\/mi><\/msub>=<\/mo>{<\/mo>(<\/mo>v<\/mi>0<\/mn><\/msub>,<\/mo>t<\/mi>0<\/mn><\/msub>)<\/mo>,<\/mo>(<\/mo>v<\/mi>1<\/mn><\/msub>,<\/mo>t<\/mi>1<\/mn><\/msub>)<\/mo>,<\/mo>.<\/mi>.<\/mi>.<\/mi>,<\/mo>(<\/mo>v<\/mi>m<\/mi><\/msub>,<\/mo>t<\/mi>m<\/mi><\/msub>)<\/mo>,<\/mo>(<\/mo>e<\/mi>1<\/mn><\/msub>,<\/mo>[<\/mo>t<\/mi>0<\/mn><\/msub>,<\/mo>t<\/mi>1<\/mn><\/msub>]<\/mo>)<\/mo>,<\/mo>.<\/mi>.<\/mi>.<\/mi>,<\/mo>(<\/mo>e<\/mi>m<\/mi><\/msub>,<\/mo>[<\/mo>t<\/mi>m<\/mi>\u2212<\/mo>1<\/mn><\/mrow><\/msub>,<\/mo>t<\/mi>m<\/mi><\/msub>]<\/mo>)<\/mo>}<\/mo><\/mrow><\/semantics><\/math>\u03c0<\/em>k<\/em>\u200b={(v<\/em>0\u200b,t<\/em>0\u200b),(v<\/em>1\u200b,t<\/em>1\u200b),…,(v<\/em>m<\/em>\u200b,t<\/em>m<\/em>\u200b),(e<\/em>1\u200b,[t<\/em>0\u200b,t<\/em>1\u200b]),…,(e<\/em>m<\/em>\u200b,[t<\/em>m<\/em>\u22121\u200b,t<\/em>m<\/em>\u200b])}<\/p>\n\n\n\n

\u5176\u4e2d v<\/mi>0<\/mn><\/msub>=<\/mo>s<\/mi>k<\/mi><\/msub><\/mrow><\/semantics><\/math>v<\/em>0\u200b=s<\/em>k<\/em>\u200b\uff0cv<\/mi>m<\/mi><\/msub>=<\/mo>g<\/mi>k<\/mi><\/msub><\/mrow><\/semantics><\/math>v<\/em>m<\/em>\u200b=g<\/em>k<\/em>\u200b\u3002\u53ef\u884c\u8def\u5f84\u9700\u6ee1\u8db3\uff1a\u5bf9\u4efb\u610f\u4e24\u4e2a\u4e0d\u540c\u7684AGV a<\/mi>p<\/mi><\/msub><\/mrow><\/semantics><\/math>a<\/em>p<\/em>\u200b \u548c a<\/mi>q<\/mi><\/msub><\/mrow><\/semantics><\/math>a<\/em>q<\/em>\u200b\uff0c\u5176\u5360\u7528\u7684\u65f6\u7a7a\u8d44\u6e90\u5355\u5143\u4e92\u4e0d\u91cd\u53e0\u3002<\/p>\n\n\n\n

2.3 \u51b2\u7a81\u7c7b\u578b\u5b9a\u4e49<\/h3>\n\n\n\n

\u5728AGV\u96c6\u7fa4\u8fd0\u884c\u8fc7\u7a0b\u4e2d\uff0c\u4e3b\u8981\u5b58\u5728\u4e09\u7c7b\u51b2\u7a81\uff1a<\/p>\n\n\n\n

\u8282\u70b9\u51b2\u7a81<\/strong>\uff1a\u4e24\u53f0\u6216\u591a\u53f0AGV\u5728\u540c\u4e00\u65f6\u523b\u8bd5\u56fe\u5360\u7528\u540c\u4e00\u8282\u70b9\u3002\u5f62\u5f0f\u5316\u63cf\u8ff0\u4e3a\uff1a\u2203<\/mi>(<\/mo>v<\/mi>,<\/mo>t<\/mi>)<\/mo><\/mrow><\/semantics><\/math>\u2203(v<\/em>,t<\/em>) \u4f7f\u5f97 \u03c0<\/mi>p<\/mi><\/msub><\/mrow><\/semantics><\/math>\u03c0<\/em>p<\/em>\u200b \u548c \u03c0<\/mi>q<\/mi><\/msub><\/mrow><\/semantics><\/math>\u03c0<\/em>q<\/em>\u200b \u5747\u5305\u542b (<\/mo>v<\/mi>,<\/mo>t<\/mi>)<\/mo><\/mrow><\/semantics><\/math>(v<\/em>,t<\/em>)\u3002<\/p>\n\n\n\n

\u76f8\u5411\u51b2\u7a81<\/strong>\uff1a\u4e24\u53f0AGV\u5728\u540c\u4e00\u6709\u5411\u8fb9\u4e0a\u9762\u5411\u5bf9\u65b9\u884c\u9a76\u3002\u5f62\u5f0f\u5316\u63cf\u8ff0\u4e3a\uff1a\u2203<\/mi>e<\/mi>i<\/mi>j<\/mi><\/mrow><\/msub>\u2208<\/mo>E<\/mi><\/mrow><\/semantics><\/math>\u2203e<\/em>ij<\/em>\u200b\u2208E<\/em>\uff0c\u4f7f\u5f97 \u03c0<\/mi>p<\/mi><\/msub><\/mrow><\/semantics><\/math>\u03c0<\/em>p<\/em>\u200b \u5305\u542b (<\/mo>e<\/mi>i<\/mi>j<\/mi><\/mrow><\/msub>,<\/mo>[<\/mo>t<\/mi>1<\/mn><\/msub>,<\/mo>t<\/mi>2<\/mn><\/msub>]<\/mo>)<\/mo><\/mrow><\/semantics><\/math>(e<\/em>ij<\/em>\u200b,[t<\/em>1\u200b,t<\/em>2\u200b])\uff0c\u03c0<\/mi>q<\/mi><\/msub><\/mrow><\/semantics><\/math>\u03c0<\/em>q<\/em>\u200b \u5305\u542b (<\/mo>e<\/mi>j<\/mi>i<\/mi><\/mrow><\/msub>,<\/mo>[<\/mo>t<\/mi>1<\/mn>\u2032<\/mo><\/msubsup>,<\/mo>t<\/mi>2<\/mn>\u2032<\/mo><\/msubsup>]<\/mo>)<\/mo><\/mrow><\/semantics><\/math>(e<\/em>ji<\/em>\u200b,[t<\/em>1\u2032\u200b,t<\/em>2\u2032\u200b])\uff0c\u4e14\u533a\u95f4 [<\/mo>t<\/mi>1<\/mn><\/msub>,<\/mo>t<\/mi>2<\/mn><\/msub>]<\/mo>\u2229<\/mo>[<\/mo>t<\/mi>1<\/mn>\u2032<\/mo><\/msubsup>,<\/mo>t<\/mi>2<\/mn>\u2032<\/mo><\/msubsup>]<\/mo>\u2260<\/mo>\u2205<\/mi><\/mrow><\/semantics><\/math>[t<\/em>1\u200b,t<\/em>2\u200b]\u2229[t<\/em>1\u2032\u200b,t<\/em>2\u2032\u200b]\ue020=\u2205\u3002<\/p>\n\n\n\n

\u4ea4\u53c9\u51b2\u7a81<\/strong>\uff1a\u4e24\u53f0AGV\u5728\u4ea4\u53c9\u8282\u70b9\u5904\u884c\u9a76\u8def\u5f84\u76f8\u4e92\u4ea4\u53c9\u3002\u5f62\u5f0f\u5316\u63cf\u8ff0\u4e3a\uff1a\u5b58\u5728\u8282\u70b9 v<\/mi><\/mrow><\/semantics><\/math>v<\/em> \u548c\u8fb9 e<\/mi>u<\/mi>v<\/mi><\/mrow><\/msub>,<\/mo>e<\/mi>v<\/mi>w<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>e<\/em>uv<\/em>\u200b,e<\/em>v<\/em>w<\/em>\u200b\uff0c\u4e00\u53f0AGV\u6cbf e<\/mi>u<\/mi>v<\/mi><\/mrow><\/msub>\u2192<\/mo>v<\/mi>\u2192<\/mo>e<\/mi>v<\/mi>w<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>e<\/em>uv<\/em>\u200b\u2192v<\/em>\u2192e<\/em>v<\/em>w<\/em>\u200b \u884c\u9a76\uff0c\u53e6\u4e00\u53f0\u6cbf e<\/mi>x<\/mi>v<\/mi><\/mrow><\/msub>\u2192<\/mo>v<\/mi>\u2192<\/mo>e<\/mi>v<\/mi>y<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>e<\/em>xv<\/em>\u200b\u2192v<\/em>\u2192e<\/em>v<\/em>y<\/em>\u200b \u884c\u9a76\uff0c\u4e14\u4e24\u8f66\u5728 v<\/mi><\/mrow><\/semantics><\/math>v<\/em> \u5904\u7684\u5360\u7528\u65f6\u95f4\u91cd\u53e0\u3002<\/p>\n\n\n\n

2.4 \u4f18\u5316\u76ee\u6807<\/h3>\n\n\n\n

\u591aAGV\u534f\u540c\u4f18\u5316\u7684\u76ee\u6807\u51fd\u6570\u7efc\u5408\u8003\u8651\u6548\u7387\u4e0e\u516c\u5e73\u6027\uff1amin<\/mi>\u2061<\/mo>\u2211<\/mo>k<\/mi>=<\/mo>1<\/mn><\/mrow>K<\/mi><\/munderover>(<\/mo>\u03c9<\/mi>1<\/mn><\/msub>\u22c5<\/mo>T<\/mi>k<\/mi>c<\/mi>o<\/mi>m<\/mi>p<\/mi>l<\/mi>e<\/mi>t<\/mi>i<\/mi>o<\/mi>n<\/mi><\/mrow><\/msubsup>+<\/mo>\u03c9<\/mi>2<\/mn><\/msub>\u22c5<\/mo>T<\/mi>k<\/mi>w<\/mi>a<\/mi>i<\/mi>t<\/mi><\/mrow><\/msubsup>)<\/mo><\/mrow>+<\/mo>\u03c9<\/mi>3<\/mn><\/msub>\u22c5<\/mo>\u03a6<\/mi><\/mrow><\/semantics><\/math>mink<\/em>=1\u2211K<\/em>\u200b(\u03c9<\/em>1\u200b\u22c5T<\/em>k<\/em>co<\/em>m<\/em>pl<\/em>e<\/em>t<\/em>i<\/em>o<\/em>n<\/em>\u200b+\u03c9<\/em>2\u200b\u22c5T<\/em>k<\/em>w<\/em>ai<\/em>t<\/em>\u200b)+\u03c9<\/em>3\u200b\u22c5\u03a6<\/p>\n\n\n\n

\u5176\u4e2d T<\/mi>k<\/mi>c<\/mi>o<\/mi>m<\/mi>p<\/mi>l<\/mi>e<\/mi>t<\/mi>i<\/mi>o<\/mi>n<\/mi><\/mrow><\/msubsup><\/mrow><\/semantics><\/math>T<\/em>k<\/em>co<\/em>m<\/em>pl<\/em>e<\/em>t<\/em>i<\/em>o<\/em>n<\/em>\u200b \u4e3a\u4efb\u52a1\u5b8c\u6210\u65f6\u95f4\uff0cT<\/mi>k<\/mi>w<\/mi>a<\/mi>i<\/mi>t<\/mi><\/mrow><\/msubsup><\/mrow><\/semantics><\/math>T<\/em>k<\/em>w<\/em>ai<\/em>t<\/em>\u200b \u4e3a\u7b49\u5f85\u65f6\u95f4\uff0c\u03a6<\/mi><\/mrow><\/semantics><\/math>\u03a6 \u4e3a\u7cfb\u7edf\u62e5\u5835\u5ea6\u91cf\u6307\u6807\uff08\u5982\u5e73\u5747\u961f\u5217\u957f\u5ea6\uff09\uff0c\u03c9<\/mi>1<\/mn><\/msub>,<\/mo>\u03c9<\/mi>2<\/mn><\/msub>,<\/mo>\u03c9<\/mi>3<\/mn><\/msub><\/mrow><\/semantics><\/math>\u03c9<\/em>1\u200b,\u03c9<\/em>2\u200b,\u03c9<\/em>3\u200b \u4e3a\u6743\u91cd\u7cfb\u6570\u3002\u7ea6\u675f\u6761\u4ef6\u5305\u62ec\uff1a\u65f6\u7a7a\u8d44\u6e90\u65e0\u51b2\u7a81\u7ea6\u675f\u3001AGV\u8fd0\u52a8\u5b66\u7ea6\u675f\u3001\u4efb\u52a1\u91ca\u653e\u65f6\u95f4\u7ea6\u675f\u7b49\u3002<\/p>\n\n\n\n
\n\n\n\n

3 DP-STCO\u534f\u540c\u4f18\u5316\u7b97\u6cd5<\/h2>\n\n\n\n

3.1 \u7b97\u6cd5\u603b\u4f53\u6846\u67b6<\/h3>\n\n\n\n

DP-STCO\u91c7\u7528\u5206\u5c42\u9012\u9636\u67b6\u6784\uff0c\u5c06\u95ee\u9898\u5206\u89e3\u4e3a\u4e09\u4e2a\u65f6\u95f4\u5c3a\u5ea6\uff1a<\/p>\n\n\n\n

    \n
  • \u957f\u671f\u5c42\uff08\u5168\u5c40\u8def\u5f84\u89c4\u5212\uff09<\/strong>\uff1a\u57fa\u4e8e\u9759\u6001\u8def\u7f51\u4fe1\u606f\uff0c\u4e3a\u6bcf\u53f0AGV\u8ba1\u7b97\u5019\u9009\u8def\u5f84\u96c6\u3002\u8be5\u5c42\u6bcf30\u79d2\u66f4\u65b0\u4e00\u6b21\u3002<\/li>\n\n\n\n
  • \u4e2d\u671f\u5c42\uff08\u65f6\u7a7a\u8d44\u6e90\u5206\u914d\uff09<\/strong>\uff1a\u4ee55\u79d2\u4e3a\u5468\u671f\uff0c\u5bf9\u8fdb\u5165\u5173\u952e\u533a\u57df\u7684AGV\u8fdb\u884c\u65f6\u7a7a\u8d44\u6e90\u9884\u7ea6\u3002<\/li>\n\n\n\n
  • \u77ed\u671f\u5c42\uff08\u5b9e\u65f6\u51b2\u7a81\u6d88\u89e3\uff09<\/strong>\uff1a\u5728100\u6beb\u79d2\u7ea7\u522b\u54cd\u5e94\u7a81\u53d1\u51b2\u7a81\uff0c\u901a\u8fc7\u52a8\u6001\u4f18\u5148\u7ea7\u8c03\u6574\u5b9e\u65bd\u4ea4\u901a\u7ba1\u5236\u3002<\/li>\n<\/ul>\n\n\n\n

    \u4e09\u5c42\u4e4b\u95f4\u901a\u8fc7\u72b6\u6001\u53d8\u91cf\u4f20\u9012\u4fe1\u606f\uff1a\u957f\u671f\u5c42\u8f93\u51fa\u8def\u5f84\u5907\u9009\u96c6\u5408\uff1b\u4e2d\u671f\u5c42\u8f93\u51fa\u65f6\u7a7a\u8d44\u6e90\u5360\u7528\u8ba1\u5212\uff1b\u77ed\u671f\u5c42\u8f93\u51fa\u5b9e\u65f6\u63a7\u5236\u6307\u4ee4\u3002<\/p>\n\n\n\n

    3.2 \u52a8\u6001\u4f18\u5148\u7ea7\u8ba1\u7b97\u673a\u5236<\/h3>\n\n\n\n

    \u4f18\u5148\u7ea7\u662f\u51b2\u7a81\u6d88\u89e3\u7684\u6838\u5fc3\u4f9d\u636e\u3002\u4f20\u7edf\u9759\u6001\u4f18\u5148\u7ea7\u65b9\u6cd5\uff08\u5982\u6309\u4efb\u52a1\u7d27\u6025\u7a0b\u5ea6\u56fa\u5b9a\u6392\u5e8f\uff09\u9002\u5e94\u6027\u5dee\uff0c\u672c\u6587\u63d0\u51fa\u52a8\u6001\u4f18\u5148\u7ea7\u8ba1\u7b97\u51fd\u6570\uff1aP<\/mi>k<\/mi><\/msub>(<\/mo>t<\/mi>)<\/mo>=<\/mo>\u03b1<\/mi>\u22c5<\/mo>U<\/mi>k<\/mi><\/msub>(<\/mo>t<\/mi>)<\/mo>+<\/mo>\u03b2<\/mi>\u22c5<\/mo>W<\/mi>k<\/mi><\/msub>(<\/mo>t<\/mi>)<\/mo>+<\/mo>\u03b3<\/mi>\u22c5<\/mo>D<\/mi>k<\/mi><\/msub>(<\/mo>t<\/mi>)<\/mo>+<\/mo>\u03b4<\/mi>\u22c5<\/mo>C<\/mi>k<\/mi><\/msub>(<\/mo>t<\/mi>)<\/mo><\/mrow><\/semantics><\/math>P<\/em>k<\/em>\u200b(t<\/em>)=\u03b1<\/em>\u22c5U<\/em>k<\/em>\u200b(t<\/em>)+\u03b2<\/em>\u22c5W<\/em>k<\/em>\u200b(t<\/em>)+\u03b3<\/em>\u22c5D<\/em>k<\/em>\u200b(t<\/em>)+\u03b4<\/em>\u22c5C<\/em>k<\/em>\u200b(t<\/em>)<\/p>\n\n\n\n

    \u5404\u5206\u91cf\u5b9a\u4e49\u5982\u4e0b\uff1a<\/p>\n\n\n\n

      \n
    • \u4efb\u52a1\u7d27\u8feb\u5ea6<\/strong>\u00a0U<\/mi>k<\/mi><\/msub>(<\/mo>t<\/mi>)<\/mo>=<\/mo>T<\/mi>k<\/mi>d<\/mi>e<\/mi>a<\/mi>d<\/mi>l<\/mi>i<\/mi>n<\/mi>e<\/mi><\/mrow><\/msubsup>\u2212<\/mo>t<\/mi><\/mrow>T<\/mi>k<\/mi>d<\/mi>e<\/mi>a<\/mi>d<\/mi>l<\/mi>i<\/mi>n<\/mi>e<\/mi><\/mrow><\/msubsup>\u2212<\/mo>t<\/mi>k<\/mi>r<\/mi>e<\/mi>l<\/mi>e<\/mi>a<\/mi>s<\/mi>e<\/mi><\/mrow><\/msubsup><\/mrow><\/mfrac><\/mrow><\/semantics><\/math>U<\/em>k<\/em>\u200b(t<\/em>)=T<\/em>k<\/em>d<\/em>e<\/em>a<\/em>d<\/em>l<\/em>in<\/em>e<\/em>\u200b\u2212t<\/em>k<\/em>re<\/em>l<\/em>e<\/em>a<\/em>se<\/em>\u200bT<\/em>k<\/em>d<\/em>e<\/em>a<\/em>d<\/em>l<\/em>in<\/em>e<\/em>\u200b\u2212t<\/em>\u200b\uff08\u82e5\u4efb\u52a1\u6709\u622a\u6b62\u65f6\u95f4\uff09\u6216\u4efb\u52a1\u5269\u4f59\u8def\u5f84\u957f\u5ea6\u7684\u5012\u6570\uff08\u82e5\u65e0\u622a\u6b62\u65f6\u95f4\uff09\u3002<\/li>\n\n\n\n
    • \u7b49\u5f85\u65f6\u95f4\u60e9\u7f5a<\/strong>\u00a0W<\/mi>k<\/mi><\/msub>(<\/mo>t<\/mi>)<\/mo>=<\/mo>min<\/mi>\u2061<\/mo>(<\/mo>1<\/mn>,<\/mo>t<\/mi>\u2212<\/mo>t<\/mi>k<\/mi>l<\/mi>a<\/mi>s<\/mi>t<\/mi>_<\/mi>m<\/mi>o<\/mi>v<\/mi>e<\/mi><\/mrow><\/msubsup><\/mrow>\u03c4<\/mi>m<\/mi>a<\/mi>x<\/mi><\/mrow><\/msub><\/mfrac>)<\/mo><\/mrow><\/semantics><\/math>W<\/em>k<\/em>\u200b(t<\/em>)=min(1,\u03c4<\/em>ma<\/em>x<\/em>\u200bt<\/em>\u2212t<\/em>k<\/em>l<\/em>a<\/em>s<\/em>t<\/em>_m<\/em>o<\/em>v<\/em>e<\/em>\u200b\u200b)\uff0c\u5176\u4e2d\u00a0t<\/mi>k<\/mi>l<\/mi>a<\/mi>s<\/mi>t<\/mi>_<\/mi>m<\/mi>o<\/mi>v<\/mi>e<\/mi><\/mrow><\/msubsup><\/mrow><\/semantics><\/math>t<\/em>k<\/em>l<\/em>a<\/em>s<\/em>t<\/em>_m<\/em>o<\/em>v<\/em>e<\/em>\u200b\u00a0\u4e3a\u6700\u540e\u4e00\u6b21\u79fb\u52a8\u65f6\u523b\uff0c\u03c4<\/mi>m<\/mi>a<\/mi>x<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>\u03c4<\/em>ma<\/em>x<\/em>\u200b\u00a0\u4e3a\u6700\u5927\u5bb9\u5fcd\u7b49\u5f85\u65f6\u95f4\u3002<\/li>\n\n\n\n
    • \u8def\u5f84\u5173\u952e\u5ea6<\/strong>\u00a0D<\/mi>k<\/mi><\/msub>(<\/mo>t<\/mi>)<\/mo>=<\/mo>L<\/mi>k<\/mi>r<\/mi>e<\/mi>m<\/mi>a<\/mi>i<\/mi>n<\/mi>i<\/mi>n<\/mi>g<\/mi><\/mrow><\/msubsup>(<\/mo>t<\/mi>)<\/mo><\/mrow>L<\/mi>t<\/mi>o<\/mi>t<\/mi>a<\/mi>l<\/mi><\/mrow><\/msub><\/mfrac><\/mrow><\/semantics><\/math>D<\/em>k<\/em>\u200b(t<\/em>)=L<\/em>t<\/em>o<\/em>t<\/em>a<\/em>l<\/em>\u200bL<\/em>k<\/em>re<\/em>mainin<\/em>g<\/em>\u200b(t<\/em>)\u200b\uff0c\u8868\u793a\u5269\u4f59\u8def\u5f84\u5360\u5168\u7a0b\u7684\u6bd4\u4f8b\uff0c\u7528\u4e8e\u9632\u6b62\u957f\u8def\u5f84AGV\u88ab\u6301\u7eed\u963b\u585e\u3002<\/li>\n\n\n\n
    • \u62e5\u5835\u8d21\u732e\u5ea6<\/strong>\u00a0C<\/mi>k<\/mi><\/msub>(<\/mo>t<\/mi>)<\/mo><\/mrow><\/semantics><\/math>C<\/em>k<\/em>\u200b(t<\/em>)\u00a0\u4e3aAGV\u5f53\u524d\u6240\u5728\u533a\u57df\u62e5\u5835\u7a0b\u5ea6\u7684\u51fd\u6570\uff0c\u9f13\u52b1AGV\u4e3b\u52a8\u907f\u8ba9\u62e5\u5835\u533a\u57df\u3002<\/li>\n<\/ul>\n\n\n\n

      \u7cfb\u6570 \u03b1<\/mi>,<\/mo>\u03b2<\/mi>,<\/mo>\u03b3<\/mi>,<\/mo>\u03b4<\/mi><\/mrow><\/semantics><\/math>\u03b1<\/em>,\u03b2<\/em>,\u03b3<\/em>,\u03b4<\/em> \u53ef\u6839\u636e\u7cfb\u7edf\u72b6\u6001\u81ea\u9002\u5e94\u8c03\u6574\u3002\u4f8b\u5982\uff0c\u5f53\u7cfb\u7edf\u6574\u4f53\u62e5\u5835\u7a0b\u5ea6\u8d85\u8fc7\u9608\u503c\u65f6\uff0c\u589e\u5927 \u03b4<\/mi><\/mrow><\/semantics><\/math>\u03b4<\/em> \u4ee5\u5f3a\u5316\u5168\u5c40\u534f\u8c03\u3002<\/p>\n\n\n\n

      3.3 \u5168\u5c40\u8def\u5f84\u89c4\u5212\uff1a\u6539\u8fdbA*\u7b97\u6cd5<\/h3>\n\n\n\n

      \u4f20\u7edfA\u7b97\u6cd5\u4ec5\u8003\u8651\u8def\u5f84\u957f\u5ea6\uff0c\u672c\u6587\u63d0\u51fa\u8003\u8651\u65f6\u7a7a\u62e5\u5835\u4ee3\u4ef7\u7684\u6539\u8fdbA<\/em>\u7b97\u6cd5\u3002\u8282\u70b9 v<\/mi><\/mrow><\/semantics><\/math>v<\/em> \u7684\u4f30\u4ef7\u51fd\u6570\u6269\u5c55\u4e3a\uff1af<\/mi>(<\/mo>v<\/mi>)<\/mo>=<\/mo>g<\/mi>(<\/mo>v<\/mi>)<\/mo>+<\/mo>h<\/mi>(<\/mo>v<\/mi>)<\/mo>+<\/mo>\u03bb<\/mi>\u22c5<\/mo>\u03c1<\/mi>(<\/mo>v<\/mi>,<\/mo>t<\/mi>)<\/mo><\/mrow><\/semantics><\/math>f<\/em>(v<\/em>)=g<\/em>(v<\/em>)+h<\/em>(v<\/em>)+\u03bb<\/em>\u22c5\u03c1<\/em>(v<\/em>,t<\/em>)<\/p>\n\n\n\n

      \u5176\u4e2d g<\/mi>(<\/mo>v<\/mi>)<\/mo><\/mrow><\/semantics><\/math>g<\/em>(v<\/em>) \u4e3a\u4ece\u8d77\u70b9\u5230 v<\/mi><\/mrow><\/semantics><\/math>v<\/em> \u7684\u5b9e\u9645\u4ee3\u4ef7\uff08\u8003\u8651\u8def\u5f84\u957f\u5ea6\u548c\u5df2\u53d1\u751f\u7684\u7b49\u5f85\u65f6\u95f4\uff09\uff0ch<\/mi>(<\/mo>v<\/mi>)<\/mo><\/mrow><\/semantics><\/math>h<\/em>(v<\/em>) \u4e3a\u5230\u76ee\u6807\u70b9\u7684\u542f\u53d1\u5f0f\u4f30\u8ba1\uff08\u6b27\u6c0f\u8ddd\u79bb\u6216\u66fc\u54c8\u987f\u8ddd\u79bb\uff09\uff0c\u03c1<\/mi>(<\/mo>v<\/mi>,<\/mo>t<\/mi>)<\/mo><\/mrow><\/semantics><\/math>\u03c1<\/em>(v<\/em>,t<\/em>) \u4e3a\u8282\u70b9 v<\/mi><\/mrow><\/semantics><\/math>v<\/em> \u5728\u9884\u8ba1\u5230\u8fbe\u65f6\u523b t<\/mi><\/mrow><\/semantics><\/math>t<\/em> \u7684\u62e5\u5835\u9884\u6d4b\u503c\uff0c\u03bb<\/mi><\/mrow><\/semantics><\/math>\u03bb<\/em> \u4e3a\u62e5\u5835\u6743\u91cd\u7cfb\u6570\u3002<\/p>\n\n\n\n

      \u62e5\u5835\u9884\u6d4b\u91c7\u7528\u57fa\u4e8e\u5386\u53f2\u6570\u636e\u7684\u6307\u6570\u5e73\u6ed1\u6a21\u578b\uff1a\u03c1<\/mi>^<\/mo><\/mover>(<\/mo>v<\/mi>,<\/mo>t<\/mi>)<\/mo>=<\/mo>\u03b8<\/mi>\u22c5<\/mo>\u03c1<\/mi>a<\/mi>c<\/mi>t<\/mi>u<\/mi>a<\/mi>l<\/mi><\/mrow><\/msub>(<\/mo>v<\/mi>,<\/mo>t<\/mi>\u2212<\/mo>\u0394<\/mi>)<\/mo>+<\/mo>(<\/mo>1<\/mn>\u2212<\/mo>\u03b8<\/mi>)<\/mo>\u22c5<\/mo>\u03c1<\/mi>^<\/mo><\/mover>(<\/mo>v<\/mi>,<\/mo>t<\/mi>\u2212<\/mo>\u0394<\/mi>)<\/mo><\/mrow><\/semantics><\/math>\u03c1<\/em>^\u200b(v<\/em>,t<\/em>)=\u03b8<\/em>\u22c5\u03c1<\/em>a<\/em>c<\/em>t<\/em>u<\/em>a<\/em>l<\/em>\u200b(v<\/em>,t<\/em>\u2212\u0394)+(1\u2212\u03b8<\/em>)\u22c5\u03c1<\/em>^\u200b(v<\/em>,t<\/em>\u2212\u0394)<\/p>\n\n\n\n

      \u901a\u8fc7\u5f15\u5165\u62e5\u5835\u9884\u6d4b\uff0c\u7b97\u6cd5\u53ef\u4e3b\u52a8\u89c4\u907f\u672a\u6765\u53ef\u80fd\u62e5\u5835\u7684\u533a\u57df\uff0c\u5b9e\u73b0\u4ea4\u901a\u6d41\u7684\u8d1f\u8f7d\u5747\u8861\u3002<\/p>\n\n\n\n

      3.4 \u5b9e\u65f6\u51b2\u7a81\u6d88\u89e3\uff1a\u6eda\u52a8\u65f6\u57df\u63a7\u5236<\/h3>\n\n\n\n

      \u91c7\u7528\u6eda\u52a8\u65f6\u57df\u63a7\u5236\uff08Receding Horizon Control, RHC\uff09\u7b56\u7565\u5904\u7406\u5b9e\u65f6\u51b2\u7a81\u3002\u8bbe\u9884\u6d4b\u65f6\u57df\u4e3a H<\/mi><\/mrow><\/semantics><\/math>H<\/em>\uff0c\u63a7\u5236\u65f6\u57df\u4e3a h<\/mi>\u2264<\/mo>H<\/mi><\/mrow><\/semantics><\/math>h<\/em>\u2264H<\/em>\u3002\u5728\u6bcf\u4e2a\u51b3\u7b56\u65f6\u523b\uff0c\u7b97\u6cd5\u6267\u884c\u4ee5\u4e0b\u6b65\u9aa4\uff1a<\/p>\n\n\n\n

      \u6b65\u9aa41<\/strong>\uff1a\u83b7\u53d6\u5f53\u524d\u65f6\u523b\u6240\u6709AGV\u7684\u72b6\u6001\uff08\u4f4d\u7f6e\u3001\u901f\u5ea6\u3001\u5269\u4f59\u8def\u5f84\u3001\u5f53\u524d\u4f18\u5148\u7ea7\uff09\u3002<\/p>\n\n\n\n

      \u6b65\u9aa42<\/strong>\uff1a\u5728\u9884\u6d4b\u65f6\u57df H<\/mi><\/mrow><\/semantics><\/math>H<\/em> \u5185\uff0c\u57fa\u4e8e\u5f53\u524d\u72b6\u6001\u548c\u9884\u7ea6\u7684\u65f6\u7a7a\u8d44\u6e90\uff0c\u9884\u6d4b\u53ef\u80fd\u53d1\u751f\u7684\u51b2\u7a81\u4e8b\u4ef6\u3002<\/p>\n\n\n\n

      \u6b65\u9aa43<\/strong>\uff1a\u5c06\u51b2\u7a81\u4e8b\u4ef6\u5efa\u6a21\u4e3a\u7ea6\u675f\u6ee1\u8db3\u95ee\u9898\uff08CSP\uff09\uff0c\u51b3\u7b56\u53d8\u91cf\u4e3a\u5404AGV\u5728\u63a7\u5236\u65f6\u57df\u5185\u7684\u901f\u5ea6\u8c03\u8282\u6307\u4ee4\uff08\u52a0\u901f\u3001\u51cf\u901f\u3001\u7b49\u5f85\u3001\u8def\u5f84\u5207\u6362\uff09\u3002<\/p>\n\n\n\n

      \u6b65\u9aa44<\/strong>\uff1a\u6c42\u89e3CSP\uff0c\u4f18\u5316\u76ee\u6807\u4e3a\u6700\u5c0f\u5316\u9884\u6d4b\u65f6\u57df\u5185\u7684\u52a0\u6743\u7b49\u5f85\u65f6\u95f4\u3002\u6c42\u89e3\u91c7\u7528\u6539\u8fdb\u7684\u4f18\u5148\u7ea7\u62cd\u5356\u7b97\u6cd5\u2014\u2014\u5c06\u6bcf\u4e2a\u65f6\u7a7a\u8d44\u6e90\u5355\u5143\u89c6\u4e3a\u62cd\u5356\u54c1\uff0cAGV\u6839\u636e\u5176\u4f18\u5148\u7ea7\u548c\u7d27\u8feb\u5ea6\u51fa\u4ef7\uff0c\u8d44\u6e90\u5206\u914d\u7ed9\u51fa\u4ef7\u6700\u9ad8\u7684AGV\u3002<\/p>\n\n\n\n

      \u6b65\u9aa45<\/strong>\uff1a\u6267\u884c\u63a7\u5236\u65f6\u57df h<\/mi><\/mrow><\/semantics><\/math>h<\/em> \u5185\u7684\u6307\u4ee4\uff0c\u6ed1\u52a8\u65f6\u95f4\u7a97\u53e3\uff0c\u91cd\u590d\u4e0a\u8ff0\u8fc7\u7a0b\u3002<\/p>\n\n\n\n

      3.5 \u6b7b\u9501\u68c0\u6d4b\u4e0e\u89e3\u9664\u673a\u5236<\/h3>\n\n\n\n

      \u5728\u591aAGV\u7cfb\u7edf\u4e2d\uff0c\u6b7b\u9501\u662f\u4e25\u91cd\u5f71\u54cd\u7cfb\u7edf\u53ef\u9760\u6027\u7684\u95ee\u9898\u3002\u672c\u6587\u5b9a\u4e49\u4e09\u79cd\u6b7b\u9501\u72b6\u6001\uff1a<\/p>\n\n\n\n

        \n
      • \u76f8\u4e92\u7b49\u5f85\u6b7b\u9501<\/strong>\uff1aAGV\u00a0a<\/mi>p<\/mi><\/msub><\/mrow><\/semantics><\/math>a<\/em>p<\/em>\u200b\u00a0\u7b49\u5f85\u00a0a<\/mi>q<\/mi><\/msub><\/mrow><\/semantics><\/math>a<\/em>q<\/em>\u200b\u00a0\u91ca\u653e\u8d44\u6e90\uff0c\u540c\u65f6\u00a0a<\/mi>q<\/mi><\/msub><\/mrow><\/semantics><\/math>a<\/em>q<\/em>\u200b\u00a0\u7b49\u5f85\u00a0a<\/mi>p<\/mi><\/msub><\/mrow><\/semantics><\/math>a<\/em>p<\/em>\u200b\u3002<\/li>\n\n\n\n
      • \u94fe\u5f0f\u6b7b\u9501<\/strong>\uff1a\u5b58\u5728\u5faa\u73af\u7b49\u5f85\u94fe\u00a0a<\/mi>1<\/mn><\/msub>\u2192<\/mo>a<\/mi>2<\/mn><\/msub>\u2192<\/mo>.<\/mi>.<\/mi>.<\/mi>\u2192<\/mo>a<\/mi>n<\/mi><\/msub>\u2192<\/mo>a<\/mi>1<\/mn><\/msub><\/mrow><\/semantics><\/math>a<\/em>1\u200b\u2192a<\/em>2\u200b\u2192…\u2192a<\/em>n<\/em>\u200b\u2192a<\/em>1\u200b\u3002<\/li>\n\n\n\n
      • \u8d44\u6e90\u6b7b\u9501<\/strong>\uff1a\u591a\u53f0AGV\u7ade\u4e89\u6709\u9650\u7684\u7f13\u51b2\u533a\u57df\u8d44\u6e90\u3002<\/li>\n<\/ul>\n\n\n\n

        \u6b7b\u9501\u68c0\u6d4b\u91c7\u7528\u57fa\u4e8e\u8d44\u6e90\u5206\u914d\u56fe\u7684\u56fe\u8bba\u65b9\u6cd5\uff0c\u6bcf100\u6beb\u79d2\u68c0\u6d4b\u4e00\u6b21\u3002\u68c0\u6d4b\u5230\u6b7b\u9501\u540e\uff0c\u91c7\u7528\u4ee5\u4e0b\u89e3\u9664\u7b56\u7565\uff08\u6309\u4f18\u5148\u7ea7\u6392\u5e8f\uff09\uff1a<\/p>\n\n\n\n

          \n
        1. \u4f18\u5148\u7ea7\u56de\u6eaf<\/strong>\uff1a\u4e34\u65f6\u63d0\u5347\u6b7b\u9501\u73af\u4e2d\u67d0\u53f0AGV\u7684\u4f18\u5148\u7ea7\u81f3\u6700\u9ad8\uff0c\u4f7f\u5176\u83b7\u5f97\u901a\u884c\u6743\u3002<\/li>\n\n\n\n
        2. \u8def\u5f84\u91cd\u89c4\u5212<\/strong>\uff1a\u4e3a\u6b7b\u9501\u73af\u4e2d\u7684AGV\u8ba1\u7b97\u66ff\u4ee3\u8def\u5f84\uff0c\u727a\u7272\u90e8\u5206\u6548\u7387\u6362\u53d6\u6b7b\u9501\u89e3\u9664\u3002<\/li>\n\n\n\n
        3. \u6307\u4ee4\u56de\u9000<\/strong>\uff1a\u5728\u6781\u7aef\u60c5\u51b5\u4e0b\uff0c\u547d\u4ee4\u67d0\u53f0AGV\u540e\u9000\u81f3\u524d\u4e00\u8282\u70b9\uff08\u9700\u786e\u4fdd\u8be5\u8282\u70b9\u5b89\u5168\u4e14\u5177\u5907\u540e\u9000\u80fd\u529b\uff09\u3002<\/li>\n<\/ol>\n\n\n\n
          \n\n\n\n

          4 \u4eff\u771f\u5b9e\u9a8c\u4e0e\u7ed3\u679c\u5206\u6790<\/h2>\n\n\n\n

          4.1 \u5b9e\u9a8c\u8bbe\u7f6e<\/h3>\n\n\n\n

          \u57fa\u4e8ePython 3.9\u5f00\u53d1\u4eff\u771f\u5e73\u53f0\uff0c\u91c7\u7528\u4ee5\u4e0b\u6d4b\u8bd5\u573a\u666f\uff1a<\/p>\n\n\n\n

            \n
          • \u8def\u7f51\u89c4\u6a21<\/strong>\uff1a50\u00d750\u7f51\u683c\u62d3\u6251\uff0c\u51712500\u4e2a\u8282\u70b9\uff0c4900\u6761\u6709\u5411\u8fb9\u3002<\/li>\n\n\n\n
          • AGV\u6570\u91cf<\/strong>\uff1a100\/200\/300\u53f0\u4e09\u4e2a\u7b49\u7ea7\u3002<\/li>\n\n\n\n
          • \u4efb\u52a1\u751f\u6210<\/strong>\uff1a\u6cca\u677e\u8fc7\u7a0b\uff0c\u5e73\u5747\u4efb\u52a1\u5230\u8fbe\u7387\u03bb=0.5~2.0 tasks\/s\u3002<\/li>\n\n\n\n
          • \u5bf9\u6bd4\u7b97\u6cd5<\/strong>\uff1aA*+\u533a\u57df\u9501\uff08\u57fa\u7ebf\uff09\u3001CBS\u7b97\u6cd5[1]\u3001\u6df1\u5ea6Q\u7f51\u7edc\u65b9\u6cd5[3]\u3002<\/li>\n\n\n\n
          • \u8bc4\u4ef7\u6307\u6807<\/strong>\uff1a\u5e73\u5747\u4efb\u52a1\u5b8c\u6210\u65f6\u95f4\u3001\u6b7b\u9501\u7387\u3001\u541e\u5410\u91cf\u3001\u4f18\u5148\u7ea7\u66f4\u65b0\u9891\u7387\u3002<\/li>\n<\/ul>\n\n\n\n

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            4.2 \u7ed3\u679c\u5206\u6790<\/h3>\n\n\n\n

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            \n\n\n\n

            5 \u7ed3\u8bba\u4e0e\u5c55\u671b<\/h2>\n\n\n\n

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