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HGHA: task allocation and path planning for warehouse agents
Liu,Yandong1,4; Han,Dong1,4; Wang,Lujia2; Xu,Cheng Zhong3
Source PublicationAssembly Automation

Purpose: With the rapid development of e-commerce, logistics demand is increasing day by day. The modern warehousing with a multi-agent system as the core comes into being. This paper aims to study the task allocation and path-planning (TAPP) problem as required by the multi-agent warehouse system. Design/methodology/approach: The TAPP problem targets to minimize the makespan by allocating tasks to the agents and planning collision-free paths for the agents. This paper presents the Hierarchical Genetic Highways Algorithm (HGHA), a hierarchical algorithm combining optimization and multi-agent path-finding (MAPF). The top-level is the genetic algorithm (GA), allocating tasks to agents in an optimized way. The lower level is the so-called highways local repair (HLR) process, avoiding the collisions by local repairment if and only if conflicts arise. Findings: Experiments demonstrate that HGHA performs faster and more efficient for the warehouse scenario than max multi-flow. This paper also applies HGHA to TAPP instances with a hundred agents and a thousand storage locations in a customized warehouse simulation platform with MultiBots. Originality/value: This paper formulates the multi-agent warehousing distribution problem, TAPP. The HGHA based on hierarchical architecture solves the TAPP accurately and quickly. Verifying the HGHA by the large-scale multi-agent simulation platform MultiBots.

KeywordHierarchical Genetic Highways Algorithm Multi-agent Path Planning Task Allocation
URLView the original
Scopus ID2-s2.0-85098672200
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Cited Times [WOS]:2   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionFaculty of Science and Technology
Corresponding AuthorWang,Lujia
Affiliation1.Center for Cloud Computing,Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences,Shenzhen,China
2.Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences,Shenzhen,China
3.State Key Lab of IOTSC,Department of Computer and Information Science,University of Macau,Taipa,Macao
4.Shenzhen College of Advanced Technology,University of the Chinese Academy of Sciences,Beijing,China
Recommended Citation
GB/T 7714
Liu,Yandong,Han,Dong,Wang,Lujia,et al. HGHA: task allocation and path planning for warehouse agents[J]. Assembly Automation,2021.
APA Liu,Yandong,Han,Dong,Wang,Lujia,&Xu,Cheng Zhong.(2021).HGHA: task allocation and path planning for warehouse agents.Assembly Automation.
MLA Liu,Yandong,et al."HGHA: task allocation and path planning for warehouse agents".Assembly Automation (2021).
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