In order to alleviate traffic congestion, avoid collisions and improve loading and unloading efficiency at the automated terminal, this study considers the factor of road congestion and a predictive two-stage path planning algorithm is proposed. Firstly, a traffic flow model of automatic terminal is established and the strategy of considering road congestion is designed. Secondly, an improved A* algorithm is proposed to find the shortest path of AGVs. On the basis of the above, a predictive two-stage path planning algorithm based on time window is proposed, and the dynamic path planning algorithm is used as a comparison to plan a conflict-free path for each AGV. Finally, the rationality and feasibility of using the two-stage algorithm are verified by simulating the loading and unloading amount, the maximum number of active AGVs and the number of path-finding failures of the two algorithms in the same time.
Research on multi-AGV path planning in automated container terminal
2019-07-01
434291 byte
Conference paper
Electronic Resource
English
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