由於快遞業的蓬勃發展，本文探討在固定班表下，求解即時的多台收發性機器人途程問題。此機器人具有不同尺寸之格子存放相對應尺寸之包裹，並有乘載數量限制，意即容量，而固定班表中包含硬時間窗資訊，使機器人在該時間前重返大廳且不得延遲。本問題目標在於決定機器人在所有顧客及快遞間運送包裹之服務順序，當顧客每提出一個需求時，系統應評估是否有任何機器人得以在顧客指定之時間窗內完成，藉由啟發式演算法求得起始可行解，接著透過禁忌搜尋法優化途程安排，亦提出一套求解單一時間窗之混合整數規劃模型，對先前已排好之路徑加入新需求，進行最佳化並且回覆顧客。本研究目標為最小化多台收發性機器人之總旅行距離，更同時考量多台機器人數量、多種容量限制、多時間窗、單一中央大廳（倉庫）及不固定顧客收發需求之情況。

Motivated by current trend of flourish express delivery industry, the real-time routing problem for the multiple capacitated pickup and delivery robots under a fixed schedule is investigated in this study. Various sizes of counterparts are used to store corresponding parcels on the robots and the quantity of counterparts is capacity. Besides, the robots are required to return to lobby before hard time windows without any delay. The objective of the problem is to determine the travel sequences for robots transporting parcels between customers and couriers. When a new request arrives, the system have to evaluate if there is a robot can service the customer and return to the lobby before the end of the assigned time cycle. Obtain an initial feasible solution by a heuristic method, and then solve the problem with Tabu search algorithm. A mixed integer programming model is also carried out to optimize the routes of robots and respond to the customers. This study considers the constraints of various capacities and sizes, multi-hard time windows and a central lobby/depot with both pickup and delivery requests made from customers. The objective of this model is to minimize the total travelling distance for multiple robots in multiple time windows.

摘要 i
Abstract ii
圖目錄 v
表目錄 vi
1. 緒論 1
1.1. 研究背景 1
1.2. 研究動機 2
1.3. 問題描述 2
2. 文獻回顧 8
2.1.途程安排問題 8
2.1.1 車輛途程安排問題 8
2.1.2 動態車輛途程安排問題 9
2.2. 啟發式搜尋演算法 10
2.2.1. 禁忌搜尋演算法 11
2.2.2. 模擬退火法 12
2.2.3. 基因演算法 12
3. 研究方法 14
3.1. 搜尋演算法 14
3.1.1 啟發式演算法 14
3.1.2 禁忌搜尋演算法 15
3.2. 混合整數規劃模型 18
4. 實驗設計與結果 22
4.1. 實驗設計 22
4.2. 實驗結果分析 24
5. 結論與未來展望 28
Reference 29

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