부산대학교 도서관

We herein proposed a collaborative planning scheme for an unmanned parking system in large scale underground parking place. Our system didn't make a brand new parking building, but reused the existing parking lot to meet the requirements: (1) maximizing the utilization rate of parking space (called by compatibilization rate herein) and (2) minimizing the waiting time of users to deposit and pick up the parked car. Our system cannot perform best on these two goals simultaneously. Meanwhile, our parking place has complex ground conditions such as many pillars, which causes difficulties in obtaining the optimized layout design of parking space and path planning of AGVs. Therefore, we proposed a multi-objective collaborative planning scheme to tackle the difficulties. This scheme employed the layout subsystem and path planning subsystem, attempting to obtain a better layout of parking lot and path planning of AGVs. Also, we discussed how to balance maximizing the number of parking spaces and minimizing the waiting time. Finally, the simulation of a real-world case showed the effectiveness of our collaborative planning scheme.