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Simulation-Based Approach for Automatic Roadmap Design in Multi-AGV Systems
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DOI：10.1109/TASE.2023.3323099.png)
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Abstract
En 中文
This paper addresses the problem of establishing efficient intralogistic systems, focusing on the generation of roadmaps on a given layout and the coordination of multiple Automated Guided Vehicles (AGVs). A simulation-based approach for automatic roadmap design is proposed. An event-based simulator is developed that uses ant-colony inspired optimization to generate roadmaps tailored to the specific characteristics of a given intralogistic problem, i.e., the plant layout, fleet size, statistical description of tasks, dispatching algorithm, etc. The generated solutions are evaluated with a Multi-Agent Path Finding (MAPF) simulator that uses a Safe Interval Path Planning (SIPP) algorithm. By analysing the system throughput, the optimal fleet size for the system is proposed. The approach is validated through various examples and benchmarked against existing methods in the literature.
Keywords:
Costs
Multi-AGV systems
roadmap design
multirobot coordination
event-based simulations
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