This article investigates the cooperative task planning problem of heterogeneous multi-robot systems in an order picking warehouse, with challenging characteristics such as heterogeneous agents, interrelated utilities and complex intertask dependencies. These characteristics bring great challenges for modelling and optimization of the problem. This study establishes a novel mapping mechanism to describe the problem as open shop scheduling with sequence-dependent set-up and transportation times, and develops an efficient mixed-integer linear programming model to obtain the optimal task planning scheme for small-size problems. To increase the size of solvable problems and improve the performance of the solution, an effective hybrid artificial bee colony algorithm is proposed, which introduces some concepts from the tabu search algorithm and the artificial immune algorithm. The effectiveness of the proposed method is confirmed by simulation experiments.

本文研究了订单拣选仓库中异构多机器人系统的协作任务规划问题，具有挑战性的特征，例如异构代理、相互关联的实用程序和复杂的任务间依赖关系。这些特点给问题的建模和优化带来了巨大的挑战。本研究建立了一种新的映射机制，将问题描述为具有序列相关设置和运输时间的开放式车间调度，并开发了一种高效的混合整数线性规划模型，以获得小规模问题的最佳任务规划方案。为了增加可解问题的规模并提高解的性能，提出了一种有效的混合人工蜂群算法，其中介绍了禁忌搜索算法和人工免疫算法中的一些概念。仿真实验证实了所提方法的有效性。