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July 8, 2021 08:55
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cvrp_reload with lat lng and gps distance
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#!/usr/bin/env python | |
# This Python file uses the following encoding: utf-8 | |
# Copyright 2015 Tin Arm Engineering AB | |
# Copyright 2018 Google LLC | |
# Licensed under the Apache License, Version 2.0 (the "License"); | |
# you may not use this file except in compliance with the License. | |
# You may obtain a copy of the License at | |
# | |
# http://www.apache.org/licenses/LICENSE-2.0 | |
# | |
# Unless required by applicable law or agreed to in writing, software | |
# distributed under the License is distributed on an "AS IS" BASIS, | |
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | |
# See the License for the specific language governing permissions and | |
# limitations under the License. | |
"""Capacitated Vehicle Routing Problem (CVRP). | |
This is a sample using the routing library python wrapper to solve a CVRP | |
problem while allowing multiple trips, i.e., vehicles can return to a depot | |
to reset their load ("reload"). | |
A description of the CVRP problem can be found here: | |
http://en.wikipedia.org/wiki/Vehicle_routing_problem. | |
Distances are in meters. | |
In order to implement multiple trips, new nodes are introduced at the same | |
locations of the original depots. These additional nodes can be dropped | |
from the schedule at 0 cost. | |
The max_slack parameter associated to the capacity constraints of all nodes | |
can be set to be the maximum of the vehicles' capacities, rather than 0 like | |
in a traditional CVRP. Slack is required since before a solution is found, | |
it is not known how much capacity will be transferred at the new nodes. For | |
all the other (original) nodes, the slack is then re-set to 0. | |
The above two considerations are implemented in `add_capacity_constraints()`. | |
Last, it is useful to set a large distance between the initial depot and the | |
new nodes introduced, to avoid schedules having spurious transits through | |
those new nodes unless it's necessary to reload. This consideration is taken | |
into account in `create_distance_evaluator()`. | |
""" | |
from functools import partial | |
import math | |
from ortools.constraint_solver import pywrapcp | |
from ortools.constraint_solver import routing_enums_pb2 | |
########################### | |
# Problem Data Definition # | |
########################### | |
def create_data_model(): | |
"""Stores the data for the problem""" | |
data = {} | |
_capacity = 15 | |
data['locations'] = [ | |
(13.0631889, 77.44637), # depot | |
(13.0631889, 77.44637), # unload depot_first | |
(13.0631889, 77.44637), # unload depot_second | |
(13.0631889, 77.44637), # unload depot_third | |
(13.0631889, 77.44637), # unload depot_fourth | |
(13.0631889, 77.44637), # unload depot_fifth | |
(13.053150040354716, 77.54204884698993), #1 | |
(12.838937782758835, 77.50531602323832), #2 | |
(12.784447514250903, 77.75280704152361)] #3 | |
data['num_locations'] = len(data['locations']) | |
data['demands'] = \ | |
[0, # depot | |
-_capacity, # unload depot_first | |
-_capacity, # unload depot_second | |
-_capacity, # unload depot_third, | |
-_capacity, # unload depot_fourth | |
-_capacity, # unload depot_fifth | |
3, 3, # 1, 2 | |
3] # 3 | |
data['time_per_demand_unit'] = 5 # 5 minutes/unit | |
data['time_windows'] = [ | |
(0, 0), # depot | |
(0, 1000), # unload depot_first | |
(0, 1000), # unload depot_second | |
(0, 1000), # unload depot_third | |
(0, 1000), # unload depot_fourth | |
(0, 1000), # unload depot_fifth | |
(60, 120), # 1 | |
(60, 120), # 2 | |
(60, 120), # 3 | |
] | |
data['num_vehicles'] = 10 | |
data['vehicle_capacity'] = _capacity | |
data['vehicle_max_distance'] = 10_000 | |
data['vehicle_max_time'] = 1_500 | |
data['vehicle_speed'] = 25 * 60 / 3.6 # Travel speed: 25km/h to convert in m/min | |
data['depot'] = 0 | |
# print(data['locations']) | |
return data | |
####################### | |
# Problem Constraints # | |
####################### | |
def gps_distance(position_1, position_2): | |
lat1 = position_1[0] | |
lat2 = position_2[0] | |
lon1 = position_1[1] | |
lon2 = position_2[1] | |
R = 6378.137; # Radius of earth in KM | |
dLat = lat2 * math.pi / 180 - lat1 * math.pi / 180; | |
dLon = lon2 * math.pi / 180 - lon1 * math.pi / 180; | |
a = math.sin(dLat/2) * math.sin(dLat/2) + math.cos(lat1 * math.pi / 180) * math.cos(lat2 * math.pi / 180) * math.sin(dLon/2) * math.sin(dLon/2); | |
c = 2 * math.atan2(math.sqrt(a), math.sqrt(1-a)); | |
d = R * c * 1000; # in meters | |
return d | |
def create_distance_evaluator(data): | |
"""Creates callback to return distance between points.""" | |
_distances = {} | |
# precompute distance between location to have distance callback in O(1) | |
for from_node in range(data['num_locations']): | |
_distances[from_node] = {} | |
for to_node in range(data['num_locations']): | |
if from_node == to_node: | |
_distances[from_node][to_node] = 0 | |
# Forbid start/end/reload node to be consecutive. | |
elif from_node in range(6) and to_node in range(6): | |
_distances[from_node][to_node] = data['vehicle_max_distance'] | |
else: | |
_distances[from_node][to_node] = (gps_distance( | |
data['locations'][from_node], data['locations'][to_node])) | |
def distance_evaluator(manager, from_node, to_node): | |
"""Returns the manhattan distance between the two nodes""" | |
return _distances[manager.IndexToNode(from_node)][manager.IndexToNode( | |
to_node)] | |
return distance_evaluator | |
def add_distance_dimension(routing, manager, data, distance_evaluator_index): | |
"""Add Global Span constraint""" | |
distance = 'Distance' | |
routing.AddDimension( | |
distance_evaluator_index, | |
0, # null slack | |
data['vehicle_max_distance'], # maximum distance per vehicle | |
True, # start cumul to zero | |
distance) | |
distance_dimension = routing.GetDimensionOrDie(distance) | |
# Try to minimize the max distance among vehicles. | |
# /!\ It doesn't mean the standard deviation is minimized | |
distance_dimension.SetGlobalSpanCostCoefficient(100) | |
def create_demand_evaluator(data): | |
"""Creates callback to get demands at each location.""" | |
_demands = data['demands'] | |
def demand_evaluator(manager, from_node): | |
"""Returns the demand of the current node""" | |
return _demands[manager.IndexToNode(from_node)] | |
return demand_evaluator | |
def add_capacity_constraints(routing, manager, data, demand_evaluator_index): | |
"""Adds capacity constraint""" | |
vehicle_capacity = data['vehicle_capacity'] | |
capacity = 'Capacity' | |
routing.AddDimension( | |
demand_evaluator_index, | |
vehicle_capacity, | |
vehicle_capacity, | |
True, # start cumul to zero | |
capacity) | |
# Add Slack for reseting to zero unload depot nodes. | |
# e.g. vehicle with load 10/15 arrives at node 1 (depot unload) | |
# so we have CumulVar = 10(current load) + -15(unload) + 5(slack) = 0. | |
capacity_dimension = routing.GetDimensionOrDie(capacity) | |
# Allow to drop reloading nodes with zero cost. | |
for node in [1, 2, 3, 4, 5]: | |
node_index = manager.NodeToIndex(node) | |
routing.AddDisjunction([node_index], 0) | |
# Allow to drop regular node with a cost. | |
for node in range(6, len(data['demands'])): | |
node_index = manager.NodeToIndex(node) | |
capacity_dimension.SlackVar(node_index).SetValue(0) | |
routing.AddDisjunction([node_index], 100_000) | |
def create_time_evaluator(data): | |
"""Creates callback to get total times between locations.""" | |
def service_time(data, node): | |
"""Gets the service time for the specified location.""" | |
return abs(data['demands'][node]) * data['time_per_demand_unit'] | |
def travel_time(data, from_node, to_node): | |
"""Gets the travel times between two locations.""" | |
if from_node == to_node: | |
travel_time = 0 | |
else: | |
travel_time = gps_distance( | |
data['locations'][from_node], data['locations'][to_node]) / data['vehicle_speed'] | |
return travel_time | |
_total_time = {} | |
# precompute total time to have time callback in O(1) | |
for from_node in range(data['num_locations']): | |
_total_time[from_node] = {} | |
for to_node in range(data['num_locations']): | |
if from_node == to_node: | |
_total_time[from_node][to_node] = 0 | |
else: | |
_total_time[from_node][to_node] = int( | |
service_time(data, from_node) + travel_time( | |
data, from_node, to_node)) | |
def time_evaluator(manager, from_node, to_node): | |
"""Returns the total time between the two nodes""" | |
return _total_time[manager.IndexToNode(from_node)][manager.IndexToNode( | |
to_node)] | |
return time_evaluator | |
def add_time_window_constraints(routing, manager, data, time_evaluator): | |
"""Add Time windows constraint""" | |
time = 'Time' | |
max_time = data['vehicle_max_time'] | |
routing.AddDimension( | |
time_evaluator, | |
max_time, # allow waiting time | |
max_time, # maximum time per vehicle | |
False, # don't force start cumul to zero since we are giving TW to start nodes | |
time) | |
time_dimension = routing.GetDimensionOrDie(time) | |
# Add time window constraints for each location except depot | |
# and 'copy' the slack var in the solution object (aka Assignment) to print it | |
for location_idx, time_window in enumerate(data['time_windows']): | |
if location_idx == 0: | |
continue | |
index = manager.NodeToIndex(location_idx) | |
time_dimension.CumulVar(index).SetRange(time_window[0], time_window[1]) | |
routing.AddToAssignment(time_dimension.SlackVar(index)) | |
# Add time window constraints for each vehicle start node | |
# and 'copy' the slack var in the solution object (aka Assignment) to print it | |
for vehicle_id in range(data['num_vehicles']): | |
index = routing.Start(vehicle_id) | |
time_dimension.CumulVar(index).SetRange(data['time_windows'][0][0], | |
data['time_windows'][0][1]) | |
routing.AddToAssignment(time_dimension.SlackVar(index)) | |
# Warning: Slack var is not defined for vehicle's end node | |
#routing.AddToAssignment(time_dimension.SlackVar(self.routing.End(vehicle_id))) | |
########### | |
# Printer # | |
########### | |
def print_solution(data, manager, routing, assignment): # pylint:disable=too-many-locals | |
"""Prints assignment on console""" | |
print(f'Objective: {assignment.ObjectiveValue()}') | |
total_distance = 0 | |
total_load = 0 | |
total_time = 0 | |
capacity_dimension = routing.GetDimensionOrDie('Capacity') | |
time_dimension = routing.GetDimensionOrDie('Time') | |
dropped = [] | |
for order in range(6, routing.nodes()): | |
index = manager.NodeToIndex(order) | |
if assignment.Value(routing.NextVar(index)) == index: | |
dropped.append(order) | |
print(f'dropped orders: {dropped}') | |
for reload in range(1, 6): | |
index = manager.NodeToIndex(reload) | |
if assignment.Value(routing.NextVar(index)) == index: | |
dropped.append(reload) | |
print(f'dropped reload stations: {dropped}') | |
for vehicle_id in range(data['num_vehicles']): | |
index = routing.Start(vehicle_id) | |
plan_output = f'Route for vehicle {vehicle_id}:\n' | |
distance = 0 | |
while not routing.IsEnd(index): | |
load_var = capacity_dimension.CumulVar(index) | |
time_var = time_dimension.CumulVar(index) | |
plan_output += ' {0} Load({1}) Time({2},{3}) ->'.format( | |
manager.IndexToNode(index), | |
assignment.Value(load_var), | |
assignment.Min(time_var), assignment.Max(time_var)) | |
previous_index = index | |
index = assignment.Value(routing.NextVar(index)) | |
distance += routing.GetArcCostForVehicle(previous_index, index, | |
vehicle_id) | |
load_var = capacity_dimension.CumulVar(index) | |
time_var = time_dimension.CumulVar(index) | |
plan_output += ' {0} Load({1}) Time({2},{3})\n'.format( | |
manager.IndexToNode(index), | |
assignment.Value(load_var), | |
assignment.Min(time_var), assignment.Max(time_var)) | |
plan_output += f'Distance of the route: {distance}m\n' | |
plan_output += f'Load of the route: {assignment.Value(load_var)}\n' | |
plan_output += f'Time of the route: {assignment.Value(time_var)}min\n' | |
print(plan_output) | |
total_distance += distance | |
total_load += assignment.Value(load_var) | |
total_time += assignment.Value(time_var) | |
print('Total Distance of all routes: {}m'.format(total_distance)) | |
print('Total Load of all routes: {}'.format(total_load)) | |
print('Total Time of all routes: {}min'.format(total_time)) | |
######## | |
# Main # | |
######## | |
def main(): | |
"""Entry point of the program""" | |
# Instantiate the data problem. | |
data = create_data_model() | |
# Create the routing index manager | |
manager = pywrapcp.RoutingIndexManager(data['num_locations'], | |
data['num_vehicles'], data['depot']) | |
# Create Routing Model | |
routing = pywrapcp.RoutingModel(manager) | |
# Define weight of each edge | |
distance_evaluator_index = routing.RegisterTransitCallback( | |
partial(create_distance_evaluator(data), manager)) | |
routing.SetArcCostEvaluatorOfAllVehicles(distance_evaluator_index) | |
# Add Distance constraint to minimize the longuest route | |
add_distance_dimension(routing, manager, data, distance_evaluator_index) | |
# Add Capacity constraint | |
demand_evaluator_index = routing.RegisterUnaryTransitCallback( | |
partial(create_demand_evaluator(data), manager)) | |
add_capacity_constraints(routing, manager, data, demand_evaluator_index) | |
# Add Time Window constraint | |
time_evaluator_index = routing.RegisterTransitCallback( | |
partial(create_time_evaluator(data), manager)) | |
add_time_window_constraints(routing, manager, data, time_evaluator_index) | |
# Setting first solution heuristic (cheapest addition). | |
search_parameters = pywrapcp.DefaultRoutingSearchParameters() | |
search_parameters.first_solution_strategy = ( | |
routing_enums_pb2.FirstSolutionStrategy.AUTOMATIC) # pylint: disable=no-member | |
search_parameters.local_search_metaheuristic = ( | |
routing_enums_pb2.LocalSearchMetaheuristic.GUIDED_LOCAL_SEARCH) | |
search_parameters.time_limit.FromSeconds(60) | |
# Solve the problem. | |
solution = routing.SolveWithParameters(search_parameters) | |
if solution: | |
print_solution(data, manager, routing, solution) | |
else: | |
print("No solution found !") | |
if __name__ == '__main__': | |
main() |
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