Route Optimization for Autonomous Container Truck Based on Rolling Window

[摘要] Route optimization for autonomous container truck is one of the key problems to realize the automatic container port. An environment model for container truck is built by grid method. Considering the complex and unknown construction environment of the container port, an improved ant colony optimization (IACO) algorithm based on rolling window is proposed to achieve path planning for container truck. In the simulations, it is obvious that the IACO will not only achieve a safe collision avoidance path, the length of which is shorter than the truck's traditional route no matter how complex the environment is, but also show good analytical and disposing ability of dead ends in the path planning process. Compared with conventional ant colony optimization (ACO), the running time of IACO is shorter. The results of the simulation experiments demonstrate that the IACO is a good method which is applicable to route optimization for autonomous container truck.

[学科分类] 自动化工程

[关键词] Container Truck;Route Optimization;Path Planning;Ant Colony Optimization (ACO);Rolling Window