Research On Unmanned Distribution System Based On Mobile Robots In Campus

With the swift development of Internet technology and e-commerce,online shopping has become a crucial way of consumption for people,which has also led to the rapid growth of express logistics business.In the past five years,China's express business volume maintains a high-speed growth rate at around 30?50%.At present,many large-scale e-commerce platforms are dedicated to the research of unmanned delivery vehicles.For instance,Jingdong and Baidu have launched unmanned distribution vehicles,but most of these products concentrate on the realization of technologies such as unmanned technology,but none of them paid attention to campus and closed residents.This thesis will base on campus environment and the robots developed by the laboratory,to study how to realize unmanned distribution on campus,and design unmanned distribution system planning based on mobile robots in campus.Firstly,aiming at the unmanned distribution problem of campus,the overall framework of the campus unmanned distribution system is designed.The system is divided into network and server layer,task planning and scheduling layer and distribution application layer,and the functions and tasks of each level are planned in detail.This thesis designs the hardware configuration scheme of the unmanned distribution system,including the robot vehicle controller,navigation,intelligent express box and other equipment,and the process based on the distribution and pickup of the unmanned distribution robot on campus.Then,a research is carried out on the campus order classification assignment problem in the task planning and scheduling layer.Based on the investigation of campus express business,this thesis analyzes the constraints of express delivery problem and other factors,constructs an order classification assignment model,and designs a packing algorithm that meets the campus assignment problem based on K-means algorithm and descending optimal adaptation(BFD)algorithm.The classification of the items and the distribution of the robots were applied and applied in the case of the express delivery of the campus of Beijing Jiaotong University.Finally,based on the path planning problem of unmanned distribution robot in mission planning and scheduling layer,the mathematical model of campus unmanned distribution path planning is established.Based on the enhanced Q-learning algorithm,the campus path optimization algorithm is proposed and the steps of Q-learning algorithm are designed.The steps were applied with the express delivery route of the campus of Beijing Jiaotong University.