Abstract
In this paper, a route-and-velocity planning algorithm for a group of automated guided vehicles (AGVs) in a simple warehouse is investigated. It decides waypoint-to-waypoint routes and the velocity decision between any pair of waypoints is presented. The main objective of this paper is generating free-collision routes for each vehicle while minimizing the minimum traveling time of each vehicle. The maximum velocity limitation of each vehicle’s motion is considered. The warehouse used is of the type of simple warehouse is modeled as a matrix of nine waypoints. A modification of typical Ant Colony Optimization (ACO) is used as the search algorithm. In the proposed ACO algorithm, two tasks are accomplished: waypoints routes and the velocities between waypoint pairs. The selection of waypoint uses the paradigm of Artificial Potential Field (APF) such that collision among vehicles can be avoided. The simulation results will be presented and evaluated. Simulation result shows that the proposed algorithm applied for simple warehouse performs convergent results in a number of iterations. The resulted minimum traveling time of the slowest vehicle is convergent and the resulted routes are collision-free.
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Pamosoaji, A.K., Raflesia, S.P. (2020). Ant Colony Optimization-Based Multiple-AGV Route-and-Velocity Planning for Warehouse Operations. In: Osman Zahid, M., Abd. Aziz, R., Yusoff, A., Mat Yahya, N., Abdul Aziz, F., Yazid Abu, M. (eds) iMEC-APCOMS 2019. iMEC-APCOMS 2019. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-15-0950-6_35
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DOI: https://doi.org/10.1007/978-981-15-0950-6_35
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