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1... Two Basic Models (Arc flow model and Set covering model)
Vehicle Path Planning Problem with Time Window (VRPTW) Two Basic Models The two basic models of Vehicle Path Planning Problem with Time Window (VRPTW) are the Arc flow model and the Set covering model. The following is a detailed explanation of these two models: Arc flow model overview: The Arc flow model is a classic mixed integer programming (MIP) model for VRPTW problems. This model represents whether a vehicle chooses to pass through a certain edge by defining decision variables on the edge (arc), and represents the service start time of the vehicle at the node through continuous variables. Objective function: minimize ∑1≤u≤U∑(vi,vj)∈Acijxijusum_{1leq u leq U} sum_{(v_i, v_j) in A} {c_{i j} x_{i j}^u} tag{1}∑1≤u≤U? ∑(vi?,vj?)∈A? cij? xiju? (1) Among them, cijij? Representing the cost (usually distance or time) of edges (vi, vj) (v_i, vvej) (vi?, vj?), xijux_{ij}^uxiju? It is a binary decision variable that represents whether the uuu th vehicle chooses edge (vi, vj) (v_i, vvej) (vi?, vj?). Constraint: Node access constraint: ∑ 1 ≤ u≤U∑{vj∈V∣(vi,vj)∈A}xiju≥1,(vi∈V?{v0})sum_{1 leq u leq U} sum_{{ v_j in V | (v_i, v_j) in A }} x_{i j}^u geq 1 , (v_i in V backslash { v_0})sum1≤u≤U? ∑{vj?∈V∣(vi?,vj?)∈A?}xiju? ≥ 1, (vi? ∈ V? {v0?}) (2) Ensure that each non depot node is visited by at least one vehicle. Path flow balance constraint: ∑ {vj ∈ V ∣ (vi, vj) ∈ A} xiju? ∑{vj∈V∣(vj,vi)∈A}xjiu=0,(vi∈V,1≤u≤U)sum_{{v_j in V | (v_i, v_j) in A }}x_{ij}^u - sum_{{v_j in V | (v_j, v_i) in A }}x_{ji}^u = 0,(v_i in V, 1 leq u leq U)sum{vj?∈V∣(vi?,vj?)∈A?}xiju?? ∑{vj?∈V∣(vj?,vi?)∈A?}xjiu? =0, (vi? ∈ V, 1 ≤ u ≤ U?) (3) Ensure that the path of each vehicle is continuou


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