Research on Multi-AGV/RGV Scheduling Method in Intensive Storage Environment

：For intensive warehouse storage operations, the automated guided vehicle(AGV) is needed to transfer the rail guided vehicle(RGV) between the shelves to transports the goods.When the storage is in operation, the AGV delivers the goods from the conveyor belt to the shelf, then RGV cooperates to complete the storage operations.It is important to construct a cooperative scheduling model for AGV/RGV considering the multiple warehousing tasks in an intensive storage environment, which includes AGV task assignment model, coordinated RGV selection model and completion time mathematical model.In order to realize multi-AGV/RGV scheduling problem, the task allocation rules of shuttle vehicles adapting to the distribution of different inbound and outbound cargo spaces are proposed with the objective of balancing the AGV tasks.Genetic algorithm(GA) is proposed to solve the multi-AGV/RGV inbound and outbound cooperation scheduling.The key decoding operator is designed in detail to determine the task sequence, task start and end time of AGV and RGV to perform the inbound and outbound tasks, so that the total completion time of all inbound and outbound operations is the shortest.Finally, the actual case of a logistics warehousing enterprise is tested.The case study demonstrates that the proposed heuristic rules can achieve the balanced distribution of AGV tasks, and the GA-based cooperative scheduling method can effectively generate multi-AGV/RGV coordinated scheduling scheme in terms of reducing the total time of warehousing operations and improving the overall efficiency of warehousing system.