Path planning for automated guided vehicles system via interactive dynamic influence diagrams with communication

2011 ◽  
Author(s):  
Jian Luo ◽  
Huayi Yin ◽  
Bo Li ◽  
Changqing Wu
Keyword(s):  
Path Planning ◽  
Automated Guided Vehicles ◽  
Influence Diagrams ◽  
Interactive Dynamic

scholarly journals A Novel Parallel Ant Colony Optimization Algorithm for Warehouse Path Planning

2020 ◽  
Vol 2020 ◽  
pp. 1-12
Author(s):  
Junqi Yu ◽  
Ruolin Li ◽  
Zengxi Feng ◽  
Anjun Zhao ◽  
Zirui Yu ◽  
...  
Keyword(s):  
Path Planning ◽  
Ant Colony Optimization ◽  
Optimization Algorithm ◽  
Ant Colony ◽  
Automated Guided Vehicles ◽  
Stability And Convergence ◽  
Ant Colony Optimization Algorithm ◽  
Processing Efficiency ◽  
Minimum Number ◽  
The Stability

In order to improve the working efficiency of automated guided vehicles (AGVs) and the processing efficiency of fulfilling orders in intelligent warehouses, a novel parallel ant colony optimization algorithm for warehouse path planning is proposed. Through the interaction of pheromones among multiple subcolonies, the coevolution of multiple subcolonies is realized and the operational capability of the algorithm is improved. Then, a multiobjective function with the object of the shortest path and the minimum number of turns of the AGV is established. And the path satisfying this objective function is obtained by the proposed algorithm. In addition, the path is further smoothed by reducing the number of intermediate nodes. The results show that the stability and convergence rate of the algorithm are faster and more stable, compared to other algorithms, in generating paths for different complexity maps. The smoothing treatment of the path significantly reduces the number of turns and the path length in the AGV driving process.

Priority-based speed control strategy for automated guided vehicle path planning in automated container terminals

2020 ◽  
Vol 42 (16) ◽  
pp. 3079-3090 ◽  
Author(s):  
Meisu Zhong ◽  
Yongsheng Yang ◽  
Shu Sun ◽  
Yamin Zhou ◽  
Octavian Postolache ◽  
...  
Keyword(s):  
Path Planning ◽  
Control Strategy ◽  
Search Algorithm ◽  
Waiting Times ◽  
Optimal Path ◽  
Speed Control ◽  
Container Terminals ◽  
Automated Guided Vehicles ◽  
Operating Efficiency ◽  
Continuous Increase

With the continuous increase in labour costs and the demands of the supply chain, improving the efficiency of automated container terminals has been a key factor in the development of ports. Automated guided vehicles (AGVs) are the main means of horizontal transport in such terminals, and problems in relation to their use such as vehicle conflict, congestion and waiting times have become very serious, greatly reducing the operating efficiency of the terminals. In this article, we model the minimum driving distance of AGVs that transport containers between quay cranes (QCs) and yard cranes (YCs). AGVs are able to choose the optimal path from pre-planned paths by testing the overlap rate and the conflict time. To achieve conflict-free AGV path planning, a priority-based speed control strategy is used in conjunction with the Dijkstra depth-first search algorithm to solve the model. The simulation experiments show that this model can effectively reduce the probability of AGVs coming into conflict, reduce the time QCs and YCs have to wait for their next task and improve the operational efficiency of AGV horizontal transportation in automated container terminals.

scholarly journals Sensor-network-based navigation of delivery robot for baggage handling in international airport

2020 ◽  
Vol 17 (4) ◽  
pp. 172988142094473
Author(s):  
Kefei Shen ◽  
Chen Li ◽  
Difei Xu ◽  
Weihong Wu ◽  
He Wan
Keyword(s):  
Path Planning ◽  
Time Window ◽  
Optimal Path ◽  
Automated Guided Vehicles ◽  
Ultra Wideband ◽  
Maintenance Cost ◽  
Optimal Path Planning ◽  
International Airport ◽  
Baggage Handling ◽  
Planning Algorithm

Automated guided vehicles (AGVs) have been regarded as a promising means for the future delivery industry by many logistic companies. Several AGV-based delivery systems have been proposed, but they generally have drawbacks in delivering and locating baggage by magnet line, such as the high maintenance cost, and it is hard to change the trajectory of AGV. This article considers using multi-AGVs as delivery robots to coordinate and sort baggage in the large international airport. This system has the merit of enlarging the accuracy of baggage sorting and delivering. Due to the inaccurate transportation efficiency, a time-dependent stochastic baggage delivery system is proposed and a stochastic model is constructed to characterize the running priority and optimal path planning for multi-AGVs according to the flight information. In the proposed system, ultra-wideband technology is applied to realize precisely positioning and navigation for multi-AGVs in the baggage distribution center. Furthermore, the optimal path planning algorithm based on time-window rules and rapidly exploring random tree algorithm is considered to avoid collision and maneuverability constraints and to determine whether the running path for each AGV is feasible and optimal. Computer simulations are conducted to demonstrate the performance of the proposed method.

A prioritized planning algorithm of trajectory coordination based on time windows for multiple AGVs with delay disturbance

2019 ◽  
Vol 39 (5) ◽  
pp. 753-768 ◽  
Author(s):  
Ruochen Tai ◽  
Jingchuan Wang ◽  
Weidong Chen
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Scheduling Algorithm ◽  
Time Windows ◽  
Previous Method ◽  
Automated Guided Vehicles ◽  
Content Type ◽  
Time Performance ◽  
Planning Algorithm ◽  
Path Planning Algorithm

Purpose In the running of multiple automated guided vehicles (AGVs) in warehouses, delay problems in motions happen unavoidably as there might exist some disabled components of robots, the instability of networks and the interference of people walking. Under this case, robots would not follow the designed paths and the coupled relationship between temporal and space domain for paths is broken. And there is no doubt that other robots are disturbed by the ones where delays happen. Finally, this brings about chaos or even breakdown of the whole system. Therefore, taking the delay disturbance into consideration in the path planning of multiple robots is an issue worthy of attention and research. Design/methodology/approach This paper proposes a prioritized path planning algorithm based on time windows to solve the delay problems of multiple AGVs. The architecture is a unity consisting of three components which are focused on scheduling AGVs under normal operations, delays of AGVs, and recovery of AGVs. In the components of scheduling AGVs under normal operations and recovery, this paper adopts a dynamic routing method based on time windows to ensure the coordination of multiple AGVs and efficient completion of tasks. In the component for scheduling AGVs under delays, a dynamical prioritized local path planning algorithm based on time windows is designed to solve delay problems. The introduced planning principle of time windows would enable the algorithm to plan new solutions of trajectories for multiple AGVs, which could lower the makespan. At the same time, the real-time performance is acceptable based on the planning principle which stipulates the parameters of local time windows to ensure that the computation of the designed algorithm would not be too large. Findings The simulation results demonstrate that the proposed algorithm is more efficient than the state-of-the-art method based on homotopy classes, which aims at solving the delay problems. What is more, it is validated that the proposed algorithm can achieve the acceptable real-time performance for the scheduling in warehousing applications. Originality/value By introducing the planning principle and generating delay space and local adjustable paths, the proposed algorithm in this paper can not only solve the delay problems in real time, but also lower the makespan compared with the previous method. The designed algorithm guarantees the scheduling of multiple AGVs with delay disturbance and enhances the robustness of the scheduling algorithm in multi-AGV system.

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