Stacking Storage Scheduling Optimization for Profile Automated Warehouse Robot Based on Mixing-degree

Stacking storage structure has to be used in profile automated warehouse, which results that the above ones of a rack must to be removed before the rack moving. So the delay of the procedure increases. Aiming at the problem, we firstly defined the mixing-degree of the whole stacking-storage as an important indicator of warehouse wholeness, which can characterize warehouse long-term efficiency. Secondly, a utility function was built to describe the measurement of warehouse status based on the mixing-degree. Finally a scheduling optimization model on constraints of the initialization condition was proposed, with always calculating the warehouse mixing-degree and top statuses. Simulation and field experiment on real Nanping AL. Robots system shows that the proposed algorithm achieves good performance and efficiency in long-term, though no optimization in short-term, which roots from less average expectation of the top-racks moves.