Scheduling of Multi-AGV Systems in Automated Electricity Meter Verification Workshops Based on an Improved Snake Optimization Algorithm

Abstract

Automated guided vehicles (AGVs) are one of the core technologies for building unmanned autonomous integrated automated electric meter verification workshops in metrology centers. However, complex obstacles on the verification lines, frequent AGV charging, and multi-AGV collaboration make the scheduling problem more complicated. Aiming at the characteristics and constraints of AGV transportation scheduling for metrology verification, a multi-AGV scheduling model was established to minimize the maximum completion time and charging cost, integrating collision-avoidance constraints. An improved snake optimization algorithm was proposed that first assigns and sorts tasks based on AGV-order-address three-level mapping encoding and decoding, then searches optimal paths using an improved A* algorithm solves multi-AGV path conflicts, and finally finds the minimum-charging-cost schedule through large neighborhood search. We conducted simulations using real data, and the calculated results reduced the objective function value by 16.4% compared to the traditional first-in-first-out (FIFO) method. It also reduced the number of charges by 60.3%. In addition, the proposed algorithm is compared with a variety of cutting-edge algorithms and the results show that the objective function value is reduced by 8.7–11.2%, which verifies the superiority of the proposed algorithm and the feasibility of the model.

Keywords

• logistics applications
• multi-AGV scheduling
• charging constraints
• improved snake optimization algorithm
• improved A* algorithm path planning