An Improved Acceleration Method Based on Multi-Agent System for AGVs Conflict-Free Path Planning in Automated Terminals

Kunlun Guo,Lei Shen,Jin Zhu

doi:10.1109/access.2020.3047916

Kunlun Guo, Lei Shen + Show 1 more

Open Access

https://doi.org/10.1109/access.2020.3047916

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Journal: IEEE Access	Publication Date: Dec 30, 2020
Citations: 40	License type: CC BY 4.0

Affiliation: Shanghai Maritime University

Abstract

Aiming at the problem that the increasing number of automated guided vehicles (AGVs) will lead to more frequent conflicts between AGVs. In this paper, a conflict-free path planning model for multi-AGV is established, aiming to minimize the blocking rate of AGVs between the quay crane and the yard crane, considering the travel speed, operation time, and conflict distance of AGVs. An architecture of AGV’s system based on Multi-Agent System (MAS) is designed, the improved interactive protocol based on blackboard model is used as the communication method of AGV, the improved acceleration control method is combined with the AGV priority determination method based on time cost as the negotiation strategy of AGV, the improved Dijkstra algorithm calculates the conflict-free path of each AGV. By comparing the acceleration control method based on MAS with the speed control method based on MAS and the task priority control method, the effectiveness of this method for solving multiple AGVs conflict-free path planning in automated terminals is verified.

Highlights

Automated Guided Vehicle (AGV) is the main means of transporting containers in an automated terminal and one of the important equipment for terminals automation
The AGV system based on Multi-Agent System (MAS) was designed, and the acceleration control method was used as the negotiation strategy of AGV
In Experiment 2, for different numbers of AGVs, when the number of AGVs is less than 30, the average blockage rate of the acceleration control method based on MAS is slightly lower than the other two control methods

Summary

Introduction

Automated Guided Vehicle (AGV) is the main means of transporting containers in an automated terminal and one of the important equipment for terminals automation. This paper designs a multi-AGV architecture based on MAS and improves the Dijkstra algorithm to plan AGV’s paths, improves acceleration control method considering conflict distance of AGV to control the speed of AGV before reaching the conflict node, to reduce negotiation time and resolve conflict.

Results

Conclusion