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Path Planning of Multiple Automatic Guided Vehicles with Tricycle Kinematics Considering Priorities and Occupancy Time Windows

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Intelligent Autonomous Systems 17 (IAS 2022)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 577))

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Abstract

This paper addresses the problem of path planning for multiple automated guided vehicles that have a kinematic model of a tricycle and drive in a network of one-way roads. The objective of path planning is that all AGVs reach their destination in the shortest possible time without collisions. The proposed path planning algorithm is an extension of the A* algorithm and takes into account the priorities of the AGVs. An occupancy time window approach is used to detect and resolve predicted collisions. The algorithm determines waiting times and waiting locations that allow collision-free driving. The node occupancy algorithm also considers the shape of the vehicle and its speed. The result of the path search algorithm is the path for each vehicle and the waiting times on each road. The resulting paths are converted into corresponding action plans that are sent to all AGVs for execution. The applicability of the proposed path planning algorithm was evaluated in a simulation environment and on real small-scale AGVs.

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Acknowledgment

The authors acknowledge the financial support from the Slovenian Research Agency and Epilog d.o.o. (research core funding No. L2-3168 and No. P2-0219).

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Authors and Affiliations

  1. Faculty of Electrical Engineering, University of Ljubljana, Tržaška 25, 1000, Ljubljana, Slovenia

    Matic Ljubi, Gregor Klančar & Andrej Zdešar

Authors
  1. Matic Ljubi
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  2. Gregor Klančar
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  3. Andrej Zdešar
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Corresponding author

Correspondence to Andrej Zdešar .

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Editors and Affiliations

  1. Faculty of Electrical Engineering, University of Zagreb, Zagreb, Croatia

    Ivan Petrovic

  2. Department of Information Engineering, University of Padua, Padua, Italy

    Emanuele Menegatti

  3. Faculty of Electrical Engineering, University of Zagreb, Zagreb, Croatia

    Ivan Marković

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Ljubi, M., Klančar, G., Zdešar, A. (2023). Path Planning of Multiple Automatic Guided Vehicles with Tricycle Kinematics Considering Priorities and Occupancy Time Windows. In: Petrovic, I., Menegatti, E., Marković, I. (eds) Intelligent Autonomous Systems 17. IAS 2022. Lecture Notes in Networks and Systems, vol 577. Springer, Cham. https://doi.org/10.1007/978-3-031-22216-0_59

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