状態空間表現による自律無人搬送車のタスク割当てと経路計画の同時最適化

概要

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This paper proposes a new static simultaneous optimization of dispatching and conflict-free routing for unidirectional Overhead Hoist Transport (OHT) systems. The objective is to minimize the entire transportation time where the given transportation tasks are finished. A dynamical system modeling is applied for OHT system that is constituted by the OHT vehicles at the lower level and governed by the upper level scheduler. In the proposed modeling, it is clarified that the simultaneous optimization problems are recast as a binary integer linear problem. This paper presents a numerical example and shows that the proposed simultaneous optimization is better than the routing optimization in term of the entire transportation time.
公益社団法人計測自動制御学会の論文