【路径规划】自动化拣货最优路径含Matlab源码

1 简介

本文针对仓储系统的拣货路径规划问题展开研究.以拣货路径长度和拣货时间为评价指标,采用遍历法求​最优路径。​

2 部分代码

clearclcclose all%% 参数设置RandNum=20;% 随机取点数MoveSpeed=1;% 小车移动速度RoadW=2;% 通道宽LaneW=1.3;% 巷道宽LaneNum=20;% 巷道总数ShelfW=0.6;% 货架宽ShelfL=2;% 货架长LaneShelfNum=5;% 每巷道货架数UnitW=2*ShelfW+LaneW;%每巷道货架的宽UnitL=2*ShelfL*LaneShelfNum+RoadW;%每巷道货架的宽starnode=[-1,1];%% 对各点赋坐标值及计算距离矩阵nnode=zeros(LaneNum*(2*LaneShelfNum+3),3);% 1-点的编号，2-点的x轴坐标，3-点的y轴坐标nnode(:,1)=(1:LaneNum*(2*LaneShelfNum+3))';i2=0;for i=1:LaneNum    for i1=1:2*LaneShelfNum+3        i2=i2+1;        nnode(i2,3)=starnode(2)+ShelfW+LaneW/2+(i-1)*UnitW;%         if i1<7            nnode(i2,2)=starnode(1)+ShelfL/2+(i1-1)*ShelfL;            i2;%         else%             nnode(i2,2)=starnode(1)+ShelfL/2+(i1-1)*ShelfL+RoadW;%         end    endendclear i2 i i1%%%%%%%%%&&&&&&&&&&&&&&&&&&&&&&%%%%%%%%%%%%%%%%%%%%%D=zeros(LaneNum*(2*LaneShelfNum+3));% D距离矩阵计算for i1=1:LaneNum*(2*LaneShelfNum+3)    for i2=i1+1:LaneNum*(2*LaneShelfNum+3)        i11=ceil(i1/(2*LaneShelfNum+3));% 巷道编号        i12=mod(i1,2*LaneShelfNum+3);% 货架编号        if i12==0            i12=2*LaneShelfNum+3;        end        i21=ceil(i2/(2*LaneShelfNum+3));% 巷道编号        i22=mod(i2,2*LaneShelfNum+3);% 货架编号        if i22==0            i22=2*LaneShelfNum+3;        end        if i11~=i21            if i12<LaneShelfNum+2&i22<LaneShelfNum+2                D(i1,i2)=(i21-i11)*UnitW+min(i22+i12-2,2*(LaneShelfNum+2)-i12-i22)*ShelfL;            elseif i12<LaneShelfNum+2&i22>LaneShelfNum+2                D(i1,i2)=(i21-i11)*UnitW+abs(i22-i12)*ShelfL;            elseif i12>LaneShelfNum+2&i22<LaneShelfNum+2                D(i1,i2)=(i21-i11)*UnitW+abs(i22-i12)*ShelfL;            elseif i12>LaneShelfNum+2&i22>LaneShelfNum+2                D(i1,i2)=(i21-i11)*UnitW+min(i12+i22-2*(LaneShelfNum+2),2*(2*LaneShelfNum+3)-i12-i22)*ShelfL;            elseif (i12~=LaneShelfNum+2&i22==LaneShelfNum+2)||(i12==LaneShelfNum+2&i22~=LaneShelfNum+2)                D(i1,i2)=(i21-i11)*UnitW+abs(i22-i12)*ShelfL;            elseif i12==LaneShelfNum+2&i22==LaneShelfNum+2                D(i1,i2)=(i21-i11)*UnitW+abs(i22-i12)*ShelfL;            else                error('距离矩阵计算错误')            end        else            D(i1,i2)=abs(i22-i12)*ShelfL;        end    endendD=D+D';clear i1 i11 i12 i2 i21 i22​​​

3 仿真结果

4 参考文献

[1]陈晓艳, 代钰贺, 陈俭永. 仓储系统拣货路径规划问题的研究[J]. 自动化技术与应用, 2021, 40(1):5.

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