A Probabilistic Time-Constrained Based Heuristic Path Planning Algorithm in Warehouse Multi-AGV Systems
Yindong Lian, Wei Xie, Langwen Zhang
Abstract
This paper mainly focuses on the path planning algorithm of multi-AGV system in the warehouse environment. We first analyze and model the path network of multiple AGVs based on dynamic stochastic network theory. Then, a probabilistic time constraint is added in the process of the well-known A⁎ heuristic algorithm, and the solution of the time cost is proposed based on probability theory. Furthermore, a multi-AGV conflict avoidance strategy suitable for heuristic planning algorithms is achieved in combination with queuing mechanism. Finally, numerical simulation experiments of the warehouse multi-AGV system are realized and demonstrate the effectiveness of the proposed algorithm.
Topics & Concepts
Computer scienceHeuristicProbabilistic logicQueueing theoryPath (computing)Mathematical optimizationAlgorithmMotion planningProcess (computing)Constraint (computer-aided design)EngineeringArtificial intelligenceMathematicsRobotComputer networkOperating systemProgramming languageMechanical engineeringAdvanced Manufacturing and Logistics OptimizationRobotic Path Planning AlgorithmsVehicle Routing Optimization Methods