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機器人室內自主載人自適應性匈牙利派單算法
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中國民航大學(xué)機器人研究所

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國家自然科學(xué)基金(U1533203)


Robot indoor autonomous manned adaptive Hungarian dispatch algorithm
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    摘要:

    以航站樓等大型公共室內環(huán)境中機器人運送旅客為背景,研究多自主載人機器人的派單優(yōu)化問(wèn)題。借鑒了網(wǎng)約車(chē)的派單思想,針對航站樓隔離區環(huán)境內的搭乘需求,研究了自適應性匈牙利派單算法。首先,基于航站樓二分圖派單匹配模型,計算載人機器人的派單調度矩陣。其次,該派單調度矩陣考慮了旅客密度時(shí)空分布、旅客等待時(shí)間和機器人能耗為參考,將路徑-時(shí)間-能量作為目標變量,以計算各接載任務(wù)起訖(OD)矩陣元素值,同時(shí)為挖掘全域派單的可能性,結合供需預測關(guān)系將快到達目標點(diǎn)的載人機器人加入可派單隊列。最后,構建航站樓實(shí)際動(dòng)態(tài)業(yè)務(wù)的三維仿真模型,進(jìn)行了全天時(shí)派單模擬實(shí)驗。結果表明,所研究的派單算法對多目標約束派單求解有較好的優(yōu)越性和適應性,以達到全域最優(yōu)派單分配的目的,為高效完成接載任務(wù)提供其決策支持。

    Abstract:

    Based on the background of robot transporting passengers in large public indoor environments such as terminal buildings, the problem of dispatching order optimization of multi-autonomous manned robots is studied. Based on the idea of dispatching the network car, the adaptive Hungarian dispatching algorithm is studied for the ride demand in the terminal isolation area. Firstly, the dispatch scheduling matrix of manned robot is calculated based on the dispatch matching model of terminal bipartite graph. Secondly, the dispatch matrix considers the spatial and temporal distribution of passenger density, passenger waiting time and robot energy consumption as reference, and takes the path-time-energy as the target variable to calculate the OD matrix element value of each receiving task. At the same time, in order to explore the possibility of global dispatch, combined with the supply and demand prediction relationship, the manned robot that quickly reaches the target point is added to the dispatchable single queue. Finally, the three-dimensional simulation model of the actual dynamic business of the terminal is constructed, and the all-day dispatch simulation experiment is carried out. The results show that the proposed dispatch algorithm has better superiority and adaptability to multi-objective constrained dispatch, so as to achieve the purpose of global optimal dispatch allocation and provide decision support for efficient completion of the receiving task.

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高慶吉,粟鵬,佘亮亮,邢志偉.機器人室內自主載人自適應性匈牙利派單算法計算機測量與控制[J].,2023,31(10):200-207.

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歷史
  • 收稿日期:2023-01-15
  • 最后修改日期:2023-02-17
  • 錄用日期:2023-02-17
  • 在線(xiàn)發(fā)布日期: 2023-10-26
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