A Bi-Level Path Planning Algorithm for Multi-AGV Routing Problem

Avoiding the multi-automated guided vehicle (AGV) path conflicts is of importance for the efficiency of the AGV system, and we propose a bi-level path planning algorithm to optimize the routing of multi-AGVs. In the first level, we propose an improved A* algorithm to plan the AGV global path in the global topology map, which aims to make the path shortest and reduce the AGV path conflicts as much as possible. In the second level, we present the dynamic rapidly-exploring random trees (RRT) algorithm with kinematic constraints to obtain the passable local path with collisions in the local grid map. Compared to the Dijkstra algorithm and classic A* algorithm, the simulation results showed that the proposed bi-level path planning algorithm performed well in terms of the search efficiency, significantly reducing the incidence of multiple AGV path conflicts.

A Novel Tabu Search Algorithm for Multi-AGV Routing Problem

In this paper, we propose a novel tabu search (NTS) algorithm that improves the efficiencies of picking goods of automated guided vehicles (AGVs) in an automatic warehouse by solving the conflicts that happen when multiple AGVs work at the same time. Relocation and exchanging operations are designed for the neighborhood searching process based on each pickup-point’s location in the warehouse, along with the initial solution generation and the termination condition in the proposed algorithm. The experimental results show that the tabu search algorithm can effectively optimize the order of pickup points, which could further reduce the total travel distance and improve the efficiencies of AGVs in automatic warehouses.

Automated Guided Vehicle, Routing and algorithms

The routing problem of Automated Guided Vehicle (AGV) targets to discovery the shortest path between two station. AGV is used widly in transporting sysrems. Earily it used in static routing (pre-defined routes), which follow fixed line. Instead of using fixed path, there is another type which is dynamic routing can use to add a high flexibility to the system.To accommodate the increased flexibility and reduce time. In this paper, routing of AGV is introduced. Different AGV shortest path algorithms are presented with highlights their main differences between them. Furthermore, AGV routing in real time using local position system (LPS) wthin labview environment is achived. Keywords: AGV; Dynamic Routing; Shortest Path Algorithm; local position system ____________________________________________________________________