集装箱码头AGV电量非饱和状态下的调度优化

对AGV电量非饱和状态下电池放电的非线性特征进行研究，区分AGV重载与空载的耗电差异，对该问题建立数学模型并使用CPLEX进行实例求解.结果表明，本文的AGV调度方案较传统AGV调度方式，使用车辆数下降17%，单车卸箱、装箱的平均个数分别增加21.43%和25%，可有效解决不饱和电量下的AGV调度问题，实施效果更优.
The nonlinear characteristics of AGV under electricity unsaturation condition was studied, and the power consumption difference between AGV overloading and no-load was distinguished. A mathematical model was established for the above problems and a practical example was analyzed by CPLEX tool. Results show that vehicle usage in the proposed AGV scheduling scheme falls 17% compared with traditional method, and the average number of unloading and loading increases by 21.43% and 25% respectively. Therefore, the proposed scheduling scheme is effective, which can solve the AGV scheduling problem under electricity unsaturation condition with higher implementation.