Abstract
Automated guided vehicles (AGVs) are used as a material handling device in flexible manufacturing systems. Traditionally, AGVs were mostly used at manufacturing systems, but currently other applications of AGVs are extensively developed in other areas, such as warehouses, container terminals and transportation systems. This paper discusses literature related to different methodologies to optimize AGV systems for the two significant problems of scheduling and routing at manufacturing, distribution, transshipment and transportation systems. We categorized the methodologies into mathematical methods (exact and heuristics), simulation studies, meta-heuristic techniques and artificial intelligent based approaches.
Similar content being viewed by others
Change history
12 July 2023
This article has been retracted. Please see the Retraction Notice for more detail: https://doi.org/10.1007/s10846-023-01923-1
References
Aized, T.: Modelling and performance maximization of an integrated automated guided vehicle system using coloured petri net and response surface methods. Comput. Ind. Eng. 57, 822–831 (2009)
Ashayeri, J., Gelders, L.F.: Interactive GPSS-PC program generator for automated material handling systems. Int. J. Adv. Manuf. Technol. 2(4), 63–77 (1987)
Baita, F., Pesenti, R., Ukovich, W., Favaretto, D.: A comparison of different solution approaches to the vehicle scheduling problem in a practical case. Comput. Oper. Res. 27, 1249–1269 (2000)
Bing, W.X.: The application of analytic process of resource in an AGV scheduling. Comput. Ind. Eng. 35(1–2), 169–172 (1998)
Blair, E.L., Charnsethikul, P., Vasques, A.: Optimal routing of driverless vehicles in a flexible material handling system. Mater. Flow 4, 73–83 (1987)
Bodin, L.D., Golden, B.L., Assad, A.A., Ball, M.O.: Routing and scheduling of vehicles and crews: the state of the art. Comput. Oper. Res. 10(2), 63–211 (1983)
Bookbinder, J.H., Krik, M.D.: Lane selection in an AGV based asynchronous parallel assembly line. Comput. Ind. Eng. 32(4), 927–938 (1997)
Bozer, Y.A., Srinivasan, M.M.: Tandem AGV systems: a partitioning algorithm and performance comparison with conventional AGV systems. Eur. J. Oper. Res. 63, 173–191 (1992)
Bramel, J., Simchi-Levi, D.: On the effectiveness of set covering formulations for the vehicle routing problem with time windows. Oper. Res. 45(2), 295–301 (1997)
Chen, M.: A mathematical programming model for AGVs planning and control in manufacturing systems. Comput. Ind. Eng. 30(4), 647–658 (1996)
Cordeau, J.-F., Desaulniers, G., Desrosiers, J., Solomon, M.M., Soumis, F.: VRP with time windows. In: Toth, P., Vigo, D. (eds.) The Vehicle Routing Problem. SIAM Monographs on Discrete Mathematics and Applications, pp. 157–193 (2002)
Corréa, A.I., Langevin, A., Rousseau, L.-M.: Scheduling and routing of automated guided vehicles: a hybrid approach. Comput. Oper. Res. 34, 1688–1707 (2007)
Dai, J.B., Lee, N.K.S., Cheung, W.S.: Performance analysis of flexible material handling systems for the apparel industry. Int. J. Adv. Manuf. Technol. 44, 1219–1229 (2009)
Desaulniers, G., Langevin, A., Riopel, D., Villeneuve, B.: Dispatching and conflict-free routing of automated guided vehicles: an exact approach. Int. J. Flex. Manuf. Syst. 15, 309–331 (2003)
Desrochers, M., Desrosiers, J., Solomon, M.: A new optimization algorithm for the vehicle routing problem with time windows. Oper. Res. 40(2), 342–354 (1992)
Desrochers, M., Lenstra, J.K., Savelsbergh, M.W.P., Soumis, F.: Vehicle routing with time windows: optimization and approximation. In: Golden, B.L., Assad, A.A. (eds.) Vehicle Routing: Methods and Studies. Studies in Management Science and Systems, pp. 65–84 (1988)
Dhouib, K., Kadi, D.A.: Expert system for AGV managing in bidirectional networks: KADS methodology based approach. Int. J. Prod. Econ. 33, 31–43 (1994)
Dumas, Y., Desrosiers, J., Soumis, F.: The pickup and delivery problem with time windows. Eur. J. Oper. Res. 54, 7–22 (1991)
Ebben, M., Van der Heijden, M., Hurink, J., Schutten, M.: Modeling of capacitated transportation systems for integral scheduling. OR Spectrum 26, 263–282 (2004)
Fazlollahtabar, H., Mahdavi-Amiri, N.: Producer’s behavior analysis in an uncertain bicriteria AGV-based flexible jobshop manufacturing system with expert system. Int. J. Adv. Manuf. Technol. 65(9–12), 1605–1618 (2013). doi:10.1007/s00170-012-4283-0
Fazlollahtabar, H., Mahdavi-Amiri, N.: An optimal path in a bi-criteria AGV-based flexible jobshop manufacturing system having uncertain parameters. Int. J. Ind. Sys. Eng. 13(1), 27–55 (2013)
Fazlollahtabar, H., Eshaghzadeh, A., Hajmohammadi, H., Taheri-Ahangar, A.: A Monte Carlo simulation to estimate TAGV production time in a stochastic flexible automated manufacturing system: a case study. Int. J. Ind. Syst. Eng. 12(3), 243–258 (2012)
Fazlollahtabar, H., Rezaie, B., Kalantari, H.: Mathematical programming approach to optimize material flow in an AGV-based flexible jobshop manufacturing system with performance analysis. Int. J. Adv. Manuf. Technol. 51(9–12), 1149–1158 (2010)
Fisher, M.: Vehicle routing. In: Ball, M.O., Magnanti, C.L., Monma, C.L., Nemhauser, G.L. (eds.) Network Routing, pp. 1–33. Elsevier, Amsterdam (1995)
Fisher, M.L., Jörnsten, K.O., Madsen, O.B.G.: Vehicle routing with time windows: two optimization algorithms. Oper. Res. 45(3), 488–492 (1997)
Gamberi, M., Manzini, R., Regattieri, A.: An new approach for the automatic analysis and control of material handling systems: integrated layout flow analysis (ILFA). Int. J. Adv. Manuf. Technol. 41, 156–167 (2009)
Gans, N., Van Ryzin, G.: Dynamic vehicle dispatching: optimal heavy traffic performance and practical insights. Oper. Res. 47(5), 675–692 (1999)
Gaur, D.R., Gupta, A., Krishnamurti, R.: A 5/3-approximation algorithm for scheduling vehicles on a path with release and handling times. Inf. Process. Lett. 86, 87–91 (2003)
Gendreau, M., Guertin, F., Potvin, J.Y., Taillard, É.: Parallel tabu search for real-time vehicle routing and dispatching. Transp. Sci. 33(4), 381–390 (1999)
Gotting, H.H.: Automation and steering of vehicles in ports. Port Technol. Int. 10, 101–111 (2000)
Guan, X., Dai, X.: Deadlock-free multi-attribute dispatching method for AGV systems. Int. J. Adv. Manuf. Technol. 45, 603–615 (2009)
Haefner, L.E., Bieschke, M.S.: ITS opportunities in port operations. Transportation Conference Proceedings, pp. 131–134 (1998)
Han, M.H., McGinnis, L.F.: Control of material handling transporter in automated manufacturing. IIE Trans. 21(2), 184–190 (1989)
Hartmann, S.: A general framework for scheduling equipment and manpower at container terminals. OR Spectrum 26, 51–74 (2004)
Hsieh, S., Lin, K.: Building AGV traffic-control models with place-transition nets. Int. J. Adv. Manuf. Technol. 6, 346–363 (1991)
Ilic, O.: Analysis of the number of automated guided vehicles required in flexible manufacturing systems. Int. J. Adv. Manuf. Technol. 9, 382–389 (1994)
Jawahar, N., Aravindan, P., Ponnambalam, S.G., Suresht, R.K.: AGV Schedule integrated with production in flexible manufacturing systems. Int. J. Adv. Manuf. Technol. 14, 428–440 (1998)
Jerald, J., Asokan, P., Prabaharan, G., Saravanan, R.: Scheduling optimization of flexible manufacturing systems using particle swarm optimization algorithm. Int. J. Adv. Manuf. Technol. 25, 964–971 (2005)
Jerald, J., Asokan, P., Saravanan, R., Delphin Carolina Rani, A.: Simultaneous scheduling of parts and automated guided vehicles in an FMS environment using adaptive genetic algorithm. Int. J. Adv. Manuf. Technol. 29, 584–589 (2006)
Joseph, O.A., Sridharan, R.: Effects of routing flexibility, sequencing flexibility and scheduling decision rules on the performance of a flexible manufacturing system. Int. J. Adv. Manuf. Technol. 56, 291–306 (2011)
Joseph, O.A., Sridharan, R.: Evaluation of routing flexibility of a flexible manufacturing system using simulation modelling and analysis. Int. J. Adv. Manuf. Technol. 56, 273–289 (2011)
Kasilingam, R.G., Gobal, S.L.: Vehicle requirements model for automated guided vehicle systems. Int. J. Adv. Manuf. Technol. 12, 276–279 (1996)
Katz, Z., Bright, G.: A guidance technique for an automated guided vehicle. Int. J. Adv. Manuf. Technol. 7, 198–202 (1992)
Kelly, J.P., Xu, J.: A set-partitioning-based heuristic for the vehicle routing problem. J. Comput. 11(2), 161–172 (1999)
Kim, B., Shin, J., Chae, J.: Simple blocking prevention for bay type path-based automated material handling systems. Int. J. Adv. Manuf. Technol. 44, 809–816 (2009)
Kim, C.W., Tanchoco, J.M.A.: Conflict-free shortesttime bidirectional AGV routing. Int. J. Prod. Res. 29(12), 2377–2391 (1991)
Kim, K., Jae, M.: An object-oriented simulation and extension for tandem AGV systems. Int. J. Adv. Manuf. Technol. 22, 441–455 (2003)
Kim, K.S., Chung, B.D., Jae, M.: A design for a tandem AGVS with multi-load AGVs. Int. J. Adv. Manuf. Technol. 22, 744–752 (2003)
Kizil, M., Ozbayrak, M., Papadopoulou, T.C.: Evaluation of dispatching rules for cellular manufacturing. Int. J. Adv. Manuf. Technol. 28, 985–992 (2006)
Kohl, N., Madsen, O.B.G.: An optimization algorithm for the vehicle routing problem with time windows based on Lagrangian relaxation. Oper. Res. 45(3), 395–406 (1997)
Kohl, N., Desrosiers, J., Madsen, O.B.G., Solomon, M.M., Soumis, F.: 2-path cuts for the vehicle routing problem with time windows. Transp. Sci. 33(1), 101–116 (1999)
Kolen, A.W.J., Rinnooy Kan, A.H.G., Trienekens, H.W.J.M.: Vehicle routing with time windows. Oper. Res. 35(2), 266–273 (1987)
Krishnamurthy, N.N., Batta, R., Karwan, M.H.: Developing conflict-free routes for automated guided vehicles. Oper. Res. 41(6), 1077–1090 (1993)
Kuttolamadom, M., Mehrabi, M.G., Weaver, J.: Design of a stable controller for accurate path tracking of automated guided vehicles systems. Int. J. Adv. Manuf. Technol. 50, 1183–1188 (2010)
Langevin, A., Lauzon, D., Riopel, D.: Dispatching, routing and scheduling of two automated guided vehicles in a flexible manufacturing system. Int. J. Flex. Manuf. Syst. 8, 246–262 (1996)
Laporte, G.: The vehicle routing problem: An overview of exact and approximate algorithms. Eur. J. Oper. Res. 59, 345–358 (1992)
Lee, J.H., Lee, B.H., Choi, M.H.: A real-time traffic control scheme of multiple AGV systems for collision free minimum time motion: a routing table approach. IEEE Trans. Syst. Man. Cybern. Syst. Hum. 28, 347–58 (1998)
Levitina, G., Abezgaouz, R.: Optimal routing of multiple-load AGV subject to LIFO loading constraints. Comput. Oper. Res. 30, 397–410 (2003)
Maughan, F.G., Lewis, H.J.: AGV controlled FMS. Int. J. Prod. Res. 38(17), 4445–4453 (2000)
Meersmans, P.J.M.: Optimization of Container Handling Systems. Ph.D. Thesis, Tinbergen Institute 271. Erasmus University Rotterdam (2002)
Meersmans, P.J.M., Wagelmans, A.P.M.: Effective algorithms for integrated scheduling of handling equipment at automated container terminals. ERIM Report Series Research in Management ERS-2001-36-LIS. Erasmus University Rotterdam (2001)
Muller, T.: Automated Guided Vehicles. IFS (Publications) Ltd./Springer-Verlag, UK/Berlin (1983)
Narasimhan, R., Batta, R., Karwan, M.H.: Routing automated guided vehicles in the presence of interruptions. Int. J. Prod. Res. 37(3), 653–681 (1999)
Nishi, T., Hiranaka, Y., Grossmann, I.E.: A bilevel decomposition algorithm for simultaneous production scheduling and conflict-free routing for automated guided vehicles. Comput. Oper. Res. 38, 876–888 (2011)
Oboth, C., Batta, R., Karwan, M.: Dynamic conflict-free routing of automated guided vehicles. Int. J. Prod. Res. 37(9), 2003–2030 (1999)
Psaraftis, H.N.: Dynamic vehicle routing problems. In: Golden, B.L., Assad, A.A. (eds.) Vehicle Routing: Methods and Studies. Studies in Management Science and Systems, pp. 223–248 (1988)
Qiu, L., Hsu, W.J.: A bi-directional path layout for conflict-free routing of AGVs. Int. J. Prod. Res. 39(1), 2177–2195 (2001)
Rajotia, S., Shanker, K., Batra, J.L.: A semi-dynamic time window constrained routing strategy in an AGV system. Int. J. Prod. Res. 36(1), 35–50 ((1998a))
Rajotia, S., Shanker, K., Batra, J.L.: A Semi-dynamic window constrained routing strategy in an AGV system. Int. J. Prod. Res. 36, 35–50 (1998)
Rashidi, H., Tsang, E.P.K.: A complete and an incomplete algorithm for automated guided vehicle scheduling in container terminals. Comp. Math. Appl. 61, 630–641 (2011)
Reddy, B.S.P., Rao, C.S.P.: A hybrid multi-objective GA for simultaneous scheduling of machines and AGVs in FMS. Int. J. Adv. Manuf. Technol. 31, 602–613 (2006)
Sabuncuoglu, I.: A study of scheduling rules of flexible manufacturing systems: a simulation approach. Int. J. Prod. Res. 36(2), 527–546 (1998)
Salehipour, A., Kazemipoor, H., Moslemi Naeini, L.: Locating workstations in tandem automated guided vehicle systems. Int. J. Adv. Manuf. Technol. 52, 321–328 (2011)
Sanchez-Salmeron, A.J., Lopez-Tarazon, R., Guzman-Diana, R., Ricolfe-Viala, C.: An inter-machine material handling system for micro-manufacturing based on using a standard carrier. Int. J. Adv. Manuf. Technol. 47, 937–943 (2010)
Saravana Sankar, S., Ponnambalam, S.G., Gurumarimuthu, M.: Scheduling flexible manufacturing systems using parallelization of multi-objective evolutionary algorithms. Int. J. Adv. Manuf. Technol. 30, 279–285 (2006)
Satish Kumar, M.V., Janardhana, R., Rao, C.S.P.: Simultaneous scheduling of machines and vehicles in an FMS environment with alternative routing. Int. J. Adv. Manuf. Technol. 53, 339–351 (2011)
Savelsbergh, M., Sol, M.: Drive: dynamic routing of independent vehicles. Oper. Res. 46(4), 474–490 (1998)
Savelsbergh, M.W.P., Sol, M.: The general pickup and delivery problem. Transp. Sci. 29(1), 17–29 (1995)
Seifert, R.W., Kay, M.G., Wilson, J.R.: Evaluation of AGV routing strategies using hierarchical simulation. Int. J. Prod. Res. 36(7), 1961–1976 (1998)
Shirazi, B., Fazlollahtabar, H., Mahdavi, I.: A six sigma based multi-objective ptimization for machine grouping control in flexible cellular manufacturing systems with guide-path flexibility. Adv. Eng. Softw. 41(6), 865–873 (2010)
Singh, S.P., Tiwari, M.K.: Object oriented modelling and development of a dispatching algorithm for automated guided vehicles. Int. J. Adv. Manuf. Technol. 23, 682–695 (2004)
Singh, S.P., Tiwari, M.K.: Intelligent agent framework to determine the optimal conflict-free path for an automated guided vehicles system. Int. J. Prod. Res. 40(16), 4195–4223 (2002)
Sinriech, D., Kotlarski, J.: A dynamic scheduling algorithm for a multiple-load-carrier system. Int. J. Prod. Res. 40(5), 1065–1080 (2002)
Sinriech, D., Palni, L.: Scheduling pickup and deliveries in a multiple-load discrete carrier environment. IIE Trans. 30, 1035–1047 (1998)
Solomon, M.M.: Algorithms for the vehicle routing and scheduling problems with time window constraints. Oper. Res. 35(2), 254–265 (1987)
Solomon, M.M., Desrosiers, J.: Time window constrained routing and scheduling problems. Transp. Sci. 22(1), 1–13 (1988)
Solomon, M.M., Baker, E.K., Schaffer, J.R.: Vehicle routing and scheduling problems with time window constraints: efficient implementations of solution improvement procedures. In: Golden, B.L., Assad, A.A. (eds.) Vehicle Routing: Methods and Studies. Studies in Management Science and Systems, pp. 85–104 (1988)
Soylu, M., Özdemirel, N.E., Kayaligil, S.: A selforganizing neural network approach for the single AGV routing problem. Eur. J. Oper. Res. 121, 124–137 (2000)
Srivastava, S.C., Choudhary, A.K., Kumar, S., Tiwari, M.K.: Development of an intelligent agent-based AGV controller for a flexible manufacturing system. Int. J. Adv. Manuf. Technol. 36, 780–797 (2008)
Subulan, K., Cakmakci, M.: A feasibility study using simulation-based optimization and Taguchi experimental design method for material handling—transfer system in the automobile industry. Int. J. Adv. Manuf. Technol. 59, 433–444 (2012)
Taghaboni-Dutta, F., Tanchoco, J.M.A.: Comparison of dynamic routing techniques for automated guided vehicle system. Int. J. Prod. Res. 33(10), 2653–2669 (1995)
Tavakkoli-Moghaddam, R., Aryanezhad, M.B., Kazemipoor, H., Salehipour, A.: Partitioning machines in tandem AGV systems based on “balanced flow strategy” by simulated annealing. Int. J. Adv. Manuf. Technol. 38, 355–366 (2008)
Um, I., Cheon, H., Lee, H.: The simulation design and analysis of a flexible manufacturing system with automated guided vehicle system. J. Manuf. Syst. 28, 115–122 (2009)
Van der Heijden, M.C., Van Harten, A., Ebben, M.J.R., Saanen, Y.A., Valentin, E.C., Verbraeck, A.: Using simulation to design an automated underground system for transporting freight around Schiphol airport. Interfaces 32(4), 1–19 (2002a)
Van der Heijden, M., Ebben, M., Gademann, N., Van Harten, A.: Scheduling vehicles in automated transportation systems. OR Spectrum 24, 31–58 (2002b)
Veeravalli, B., Rajesh, G., Viswanadham, N.: Design and analysis of optimal material distribution policies in flexible manufacturing systems using a single AGV. Int. J. Prod. Res. 40(12), 2937–2954 (2002)
Vis, I.F.A.: Survey of research in the design and control of automated guided vehicle systems. Eur. J. Oper. Res. 170, 677–709 (2006)
Vis, I.F.A., Harika, I.: Comparison of vehicle types at an automated container terminal. OR Spectrum 26, 117–143 (2004)
Wu, K.H., Hsing, Chen, C.H., Ko, J.: Path planning and prototype design of an AGV. Math. Comput. Model. 30, 147–167 (1999)
Yahyaei, M., Jam, J.E., Hosnavi, R.: Controlling the navigation of automatic guided vehicle (AGV) using integrated fuzzy logic controller with programmable logic controller (IFLPLC). Int. J. Adv. Manuf. Technol. 47, 795– 807 (2010)
Yang, C.H., Choi, Y.S., Ha, T.Y.: Simulation-based performance evaluation of transport vehicles at automated container terminals. OR Spectrum 26, 149–170 (2004)
Yoo, J., Sim, E., Cao, C., Park, J.: An algorithm for deadlock avoidance in an AGV System. Int. J. Manuf. Technol. 26, 659–668 (2005)
Zanjirani Farahani, R., Laporte, G., Miandoabchi, E., Bina, S.: Designing efficient methods for the tandem AGV network design problem using tabu search and genetic algorithm. Int. J. Adv. Manuf. Technol. 36, 996–1009 (2008)
Zaremba, M.B., Obuchowicz, A., Banaszak, Z.A., Jedrzejek, K.J.: A max-algebra approach to the robust distributed control of repetitive AGV systems. Int. J. Prod. Res. 35(10), 2667–2687 (1997)
Zeng, L., Wang, H.P., Jin, S.: Conflict detection of automated guided vehicles: a petri net approach. Int. J. Prod. Res. 29(5), 865–879 (1991)
Author information
Authors and Affiliations
Corresponding author
Additional information
This article has been retracted. Please see the retraction notice for more detail:https://doi.org/10.1007/s10846-023-01923-1
About this article
Cite this article
Fazlollahtabar, H., Saidi-Mehrabad, M. RETRACTED ARTICLE: Methodologies to Optimize Automated Guided Vehicle Scheduling and Routing Problems: A Review Study. J Intell Robot Syst 77, 525–545 (2015). https://doi.org/10.1007/s10846-013-0003-8
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10846-013-0003-8