【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
3 仿真结果
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
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