针对智能工厂中多搬运载体间的协同作业问题，以堆垛机-AGV-机械手三资源为研究对象，考虑AGV在交叉路口避碰规则以及优先级动态调整规则，建立以总任务完工时间最少为主决策目标，以惩罚成本最低为辅助决策目标的协同作业优化模型；采用优化粒子群算法求解，为避免算法在迭代后期搜索能力弱易陷入局部最优的情况，引入遗传算法中的自适应变异进行优化。通过实例验证表明，考虑AGV在交叉路口的避碰规则，能明显缩短任务完成时间和AGV在路口的等待时间，同时，验证了优化粒子群算法在求解和收敛速度方面性能优于传统粒子群算法。
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