为了提高自动引导小车 (automatic guided vehicle，AGV)在物流分拣中心的分拣效率，考虑采用纯电力驱动的AGV分拣过程存在电量消耗和充电需求的特性，提出了一种优化模型。在考虑AGV剩余电量和包裹时间窗等约束条件的基础上，建立了以最小化分拣作业周期为目标的混合整数规划(MIP)模型并提出了相应的约束规划(CP)模型，模型中使用区间变量表示任务的执行情况，借助累积函数记录电量的变化情况。计算结果表明，与MIP模型相比，CP模型拥有更好的求解性能。采用混合整数规划与约束规划构建AGV调度模型，可以有效提高分拣效率，降低企业运营成本，并为考虑更多约束的AGV调度研究提供求解途径。
In order to improve the sorting efficiency of automatic guided vehicle (AGV) in the logistics sorting center, an optimized model was proposed considering the characteristics of power consumption and charging demand in the sorting process of electric-driven AGVs. On the basis of considering of the AGVs’ remaining power and package delivery time window, a mixed integer programming (MIP) model with the minimization of the sorting operation cycle and a corresponding constrained programming (CP) model were formulated. In CP model, the interval variables were used to describe the performance of tasks and the change of electric quantity was recorded by using cumulative function. The computational results show that the CP model has better performance compared with the MIP model.Adopting mixed integer programming and constrained programming to formulate the AGV scheduling model can effectively improve the sorting efficiency, reduce the operating cost of enterprises, and provide an alternative solution for the AGV scheduling problem with more constraints.