Automated Guided Vehicles Research Articles

Failure Prediction of Automated Guided Vehicle Systems in Production Environments through Artificial Intelligence

Modern industrial systems demand intricate connectivity and automation, especially in the realm of shop floor processes and intralogistics. Automated Guided Vehicle (AGV) systems are characterized by their potential for seamlessly networking value creation areas. However, failures and disruptions in AGV systems and adjacent facilities can lead to production halts, adversely affecting delivery reliability and quality. A substantial portion of the downtime stems from manual troubleshooting, underscoring the pivotal importance of the response time from maintenance staff. This paper introduces an approach employing a neural network with long short-term memory for forecasting and predictive maintenance to enhance AGV system reliability and availability in production environments. By analysing historical data, identifying patterns, and predicting potential failures or maintenance needs in AGV components and neighbouring facilities, the proposed AI-based forecasting ensures timely preventive measures. A case study shows the effectiveness of this approach in significantly improving AGV system performance, minimizing disruptions, and enhancing operational availability. This research contributes to smart manufacturing by providing a practical solution for optimizing availability of the concerned AGV system through advanced AI-based forecasting strategies.

Digital Twin and Simulation Analyses for Process Optimization of an Automated Guided Vehicle System

Development in industrial companies aims to digitize processes, ensure traceability and advance automation. Systems with automated guided vehicles (AGVs) can help meet these objectives. A core element of these systems is the higher-level system controller. When an AGV system is operated, some dynamic aspects appear. It is then to identify, that the previous specified rules for scheduling and routing of vehicles are not always proper and practical, which may result in waiting time of AGVs. That means the static performance requirements and the specifications based on them often lead to suboptimal results. A methodical problem-solving approach is to develop a digital twin as a reflection of reality and to carry out strategy analyses using simulation. For this purpose, a digital twin of the concerned AGV system with five vehicles and its technological environment is created using software of plant simulation. Various simulation scenarios are developed to simulate material flows by using different routing and scheduling rules and strategies. Drawing from the insights gained through the digital twin and simulation analyses, this study identifies novel scheduling and routing rules for the AGV system. These rules improve the overall efficiency and effectiveness of the system operations by easing traffic congestion, reducing transit time, and minimizing production downtime.

An effective multi-restart iterated greedy algorithm for multi-AGVs dispatching problem in the matrix manufacturing workshop

An excellent automated guided vehicle (AGV) scheduling scheme can effectively improve the productivity of automated manufacturing factories and reduce costs, so the AGV dispatching problem (AGVDP) has become a research hotspot. This paper studies AGVDP with AGV capacity and the latest delivery time to reduce the cost of the total objective consisting of AGV cost, travel cost, and penalty cost. To this end, a mixed-integer linear programming model and a multi-restart iterated greedy (MRIG) algorithm are proposed. According to the characteristics of the problem, an improved nearest neighbor-based heuristic algorithm (INNH) is proposed to generate an initial solution. INNH includes a balanced two-factor selection strategy and a multiple-try insertion strategy. In the MRIG, the destruction stage has been improved to have an adaptive parameter. To enhance the quality of the initial solution and the depth of the evolution, two improved reference local searches are proposed. Furthermore, a multi-restart strategy with a checking mechanism and five restart methods is designed to avoid MRIG falling into the local optimum. The results of sufficient statistical experiments show that the MRIG is obviously superior to the existing algorithms when solving AGVDP.

Navigation Techniques and Algorithms for Mobile Robots and Automated Guided Vehicles

Mobile robots are self-contained devices that can navigate and move around their surroundings. They observe their environment and create maps using different sensors such as lidar, Global Positioning System (GPS), and cameras. Automated Guided Vehicles (AGVs) are vehicles that can move independently utilizing different approaches such as underground cables, laser scanners, or GPS systems. This research investigates several navigation methodologies and algorithms used in AGVs and mobile robots. It focusses on the advantages of integrating lidar technology with other sensors as well as how it is used in local navigation techniques. We look at two motion planning techniques for obstacle avoidance: the Artificial Potential Field (APF) approach and the Vector Field Histogram (VFH) algorithm. Two effective techniques for finding the best routes are discussed: the A* algorithm and Dijkstra's algorithm. The various AGV types and their navigation systems (such as wired, guide, laser, vision-based, and gyro-based) are also examined in the study. Neural networks and fuzzy logic are investigated as AGV control techniques, with line following and obstacle avoidance as examples of their use. The study emphasizes how crucial precise and dependable navigation systems are to the effective and secure operation of mobile robots and AGVs.

Trajectory Tracking Nonlinear Hybrid Control of Automated Guided Vehicles

Automated guided vehicles (AGVs), so necessary in industrial environments, require precise control of trajectory tracking to make accurate stops at logistics stations, such as loading stations, or to pick up or drop off trolleys, pallets, or racks. This paper proposes a hybrid control architecture for trajectory tracking of a hybrid tricycle-differential AGV. The control strategy combines conventional proportional integral derivative (PID) control with advanced nonlinear Lyapunov control (LPC). The LPC is used for trajectory tracking while the PID is used for speed control of the robot. The stability of the controller is demonstrated for any differentiable trajectory. When a PID optimized with genetic algorithms is compared with the proposed controller for several trajectories, the LPC outperforms it in all cases.

A decentralized path planning model based on deep reinforcement learning

The escalating usage of automated guided vehicles (AGVs) on a grand scale accentuates the scalability limitations inherent in traditional, centrally-controlled path planning algorithms. Addressing this challenge, we introduce a pioneering decentralized path planning model, DPPDRL, built upon the foundations of deep reinforcement learning. Drawing inspiration from human path planning and dynamic coupling techniques, DPPDRL imbues AGVs with the autonomy to independently dictate and dynamically adapt their paths in real time. Notably, DPPDRL champions the adoption of diverse policies, thereby facilitating efficient collision avoidance and exploration of potential routes. Simulation-based evidence substantiates critical findings, including remarkable improvements in training speed and scalability, heightened adaptability to environmental variations and agent number changes, and applicability across any number of AGVs, provided a reasonable task distribution. However, DPPDRL's performance becomes limited when tasks are densely concentrated. Addressing this issue through task distribution and hierarchical reinforcement learning is a promising direction for future research. These findings underscore the transformative potential of DPPDRL in managing extensive, dynamic AGV operations.

Research on vehicle path planning of automated guided vehicle with simultaneous pickup and delivery with mixed time windows

AbstractThe authors investigate new Automated Guided Vehicle (AGV) Routing Problem with Simultaneous Pickup and Delivery with Mixed Time Windows (VRPSPDMTW) in smart workshops, a variation of the classic Vehicle Routing Problem (VRP). A mixed time window vehicle routing model was developed for simultaneous deliveries. This model reduces the cost of AGVs used and distribution cost, along with time window penalties. To address this complex challenge, a Hybrid Adaptive Genetic Algorithm using Variable Neighbourhood Search (AGA‐VNS) is proposed. This algorithm enhances the genetic algorithm's local search capabilities while preserving solution diversity, thereby improving both efficiency and quality of solutions. Comprehensive computational experiments are conducted, which include both VRPSPDTW test benchmark and real‐world smart factory instance studies. The outcomes reveal that the AGA‐VNS algorithm outperforms both professional solver software and advanced heuristic methods significantly. Moreover, the newly developed mixed time window model is more aligned with the requirements of real‐world production processes compared to the traditional time window model. Thus, this research not only presents novel insights into the domain of vehicle routing problems but also demonstrates its significant applicability and potential in the background of intelligent workshops.

AGV maneuverability simulation and design based on pure pursuit algorithm with obstacle avoidance

This paper discusses the simulation of an automated guided vehicle (AGV) with the differential-drive mobile robot (DDMR) concept. Using this wheel configuration, the AGV can maneuver in tight workspaces. However, controlling a self-driving AGV with obstacle avoidance is not easy. Therefore, this paper proposes a control system to drive an AGV with several process stages. First, a kinematic model is formulated to represent the AGV with the concept of two wheels that can be controlled differentially. In the second stage, the pure pursuit control method is applied to the model so that the AGV can follow the waypoint coordinates determined and combine them with obstacle avoidance. Finally, the effectiveness of the control system was verified using simulation. The look-ahead parameter with a value of 0.2 meters shows optimal results so that pure pursuit control can reach all waypoint coordinates. Based on this simulation, the AGV prototype was then designed, assembled, and equipped with an internet of things-based obstacle avoidance system. While the simulation proves promising, the anticipated challenges identified in the AGV field test, such as GPS inaccuracies and signal obstructions, underscore the need for ongoing improvements in real-world applications.

An LLM-based vision and language cobot navigation approach for Human-centric Smart Manufacturing

Industry 5.0 prioritizes Human-centric Smart Manufacturing (HSM), aiming to enhance human operators’ well-being and needs. This necessitates collaborative robots with advanced natural interaction capabilities and improved perception, cognition, and action intelligence. The Large Language Model (LLM) exhibits strong reasoning abilities and generalization capabilities, which can significantly advance the development of HSM once integrated into human–robot interaction and collaboration. Accordingly, this paper explores part of LLM’s ability in the context of smart manufacturing, focusing on addressing interruptions in the manufacturing process caused by repetitive tool fetching. To alleviate this issue, a vision and language cobot navigation approach is innovatively adopted in the manufacturing environment that could be further used to assist operators in retrieving tools. Specifically, a real Human–Robot Collaboration (HRC) manufacturing scene is first reconstructed and annotated using Three-Dimensional (3D) point cloud techniques. Then the LLM is utilized for the Automated Guided Vehicle (AGV) to comprehend natural language commands and generate Python code to triger navigation actions. Finally, the Pathfinder algorithm is applied for corresponding path planning. The framework is implemented in the Artificial Intelligence (AI) Habitat simulator, and the case studies demonstrate that the AGV can accurately comprehend complex language instructions, empowering human operators to complete manufacturing tasks efficiently.

Efficient Predictive Regulation Algorithms for AGV System in Industrial Internet

<p>In recent years, the industrial Internet has developed rapidly. In order to improve the reliability, real-time, and economy, Automated Guided Vehicle (AGV) in intelligent manufacturing system becomes an indispensable technology. However, the current AGV system relies too much on the fixed network bandwidth environment in information transmission and management. When the traffic demand changes frequently, this form of network configuration lacks network resource management mechanism. Further, it leads to the problems of delay, waste of network flow, and inability to dynamically allocate network resources. So it is vital to improve the AGV system. Therefore, this paper proposes three predictive control algorithms and a Network Cable Scheduling algorithm to manage the network resources. They are Markov Chain Linear Programming Regulation (MCLPR) algorithm, Prophet Linear Programming Regulation (PLPR) algorithm, and Machine Learning Linear Programming Regulation (MLLPR) algorithm. The experimental results show that PLPR and MLLPR algorithm have high efficiency in the aspect of regulation. MLLPR algorithm has the lowest cost. MLLPR algorithm has the strongest leakage limitation ability, followed by PLPR algorithm. The balance regulation efficiency of MLLPR in none “4 + 1” mode is the highest in different network cable modes.</p> <p> </p>

A Study on E-Commerce Warehousing Dynamics Navigating Order Fulfilment and Returns

The e-commerce over the past decade has experienced remarkable growth, reshaping shopping habits and challenging traditional supply chain methods. This surge in online shopping has compelled e-commerce firms to enhance their warehousing and order fulfilment strategies to meet rising consumer expectations for swift deliveries and hassle-free returns. Effective management of order fulfilment and reverse logistics has become essential for competitiveness in this industry. This study investigates e-commerce warehousing dynamics, emphasizing the optimization of order speed, delivery times, operational costs, and return management. Through industry reports, academic literature, and case studies, we identify best practices in five key areas: warehouse design and automation, demand forecasting, inventory control, order picking and packing processes, transportation strategies, last-mile delivery models, and reverse logistics for returns. Our research underscores the significance of highly automated warehouses equipped with advanced technologies such as robotics, automated storage and retrieval systems (ASRS), automated guided vehicles (AGVs), and intelligent software for material flow management. These innovations empower e-commerce firms to boost throughput, enhance operational flexibility, and adapt to changing demands effectively.

A novel hexagonal grid map model and regenerated heuristic factor based strategy for intelligent manufacturing system’s AGV path planning problem solving

In modern industry, flexible manufacturing systems play an indispensable role, and the precision and connectivity of map modeling are crucial for improving the efficiency and flexibility of AGV (Automated Guided Vehicle) transportation systems. Facing challenges such as spatial constraints, equipment failures, and unexpected task changes in real manufacturing environments, this paper proposes an innovative AGV path planning method based on hexagonal grid map modeling. This method significantly enhances the connectivity, sampling frequency, and safety of AGV path planning by replacing traditional square grids with hexagonal ones. Additionally, this study employs an improved ant colony algorithm combined with the hexagonal grid map for AGV path planning. The algorithm incorporates heuristic factors to effectively avoid local optima. Furthermore, by dividing the ant colony into odd and even groups and implementing a bidirectional search strategy, the comprehensive exploration capability of the algorithm is further enhanced. Experimental results show that compared to traditional square grids, the hexagonal grid reduces the optimal path length by 11.1%, and the application of heuristic factors further shortens the path length by 18.6%. The bidirectional search strategy also significantly reduces the number of iterations required by the algorithm, with a maximum reduction of 46.46%. In summary, this paper provides a new, efficient, stable, and energy-saving solution for AGV path planning systems, with thorough optimizations and improvements made in every aspect from map modeling to path planning algorithms.

Study on automated guided vehicle navigation method with external computer vision

Automated guided vehicle (AGV) navigation is extensively used in industrial manufacturing. Existing AGV navigation methods have high accuracy but usually require expensive positioning sensors. This paper proposes a novel method for AGV navigation based on external computer vision (NECV). No matter how many AGVs are in the workshop, the proposed NECV method uses only an external camera mounted on the top of the roof to detect and track AGVs, and all the AGVs don’t need to be equipped with any positioning sensors. Because there is no need to equip positioning sensors on AGVs, and also don’t need to arrange positioning signs, NECV significantly reduces the positioning cost of navigation. YOLOv8 was selected as the detector for NECV, and the training was completed using a prepared dataset. We improved the structure of the StrongSORT algorithm and used it as the tracker. The improved StrongSORT algorithm is the core of NECV. The imaging coordinates of the AGVs are detected by the detector, transformed into global coordinates through inverse perspective mapping, and passed to the master console. Experimental results indicated that the NECV detection deviation q of the AGV and the experimental accuracy metrics of the NECV after compensating q were considerably improved, close to those of the popular Quick Response (QR) code navigation method. Statistically, NECV can reduce the cost of AGV positioning detection by 90%.

Research on AGV scheduling and potential conflict resolution in port scenarios: based on improved genetic algorithm

In the research of Automated Guided Vehicle (AGV) scheduling, the most critical issues are the optimization of task allocation to AGVs and the handling of conflict scenarios. To address these challenges, we propose a scheme for AGV scheduling optimization and conflict resolution. To begin with, we introduce a novel improved genetic algorithm grounded on a combination strategy that re-encodes tasks into compound groupings, effectively simplifying large-scale integer programing problems into smaller, more manageable ones. Subsequently, the simplified problem is solved using an improved genetic algorithm. Test results validate that this method not only quickens the pace of finding solutions but also significantly improves the quality of those solutions. This is particularly evident when it comes to managing larger-scale optimization challenges. Furthermore, within AGV system conflict scenarios, this paper divides them into two primary categories: navigational conflicts and task quantity changes. For navigational conflicts, three resolution approaches are designed to address four different types of conflict situations: head-on, crossing, occupation, and chasing conflicts. Considering the fluctuations in task quantity, we developed strategies for rescheduling, non-rescheduling, and insertion rescheduling. Their performances were experimentally compared across various scales of scheduling problems, providing data support and theoretical basis for the selection of scheduling strategies in practical applications.

Omnidirectional AGV Path Planning Based on Improved Genetic Algorithm

To address the issues with traditional genetic algorithm (GA) path planning, which often results in redundant path nodes and local optima, we propose an Improved Genetic Algorithm that incorporates an ant colony algorithm (ACO). Firstly, a new population initialization method is proposed. This method adopts a higher-quality random point generation strategy to generate random points centrally near the start and end of connecting lines. It combines the improved ACO algorithm to connect these random points quickly, thus greatly improving the quality of the initial population. Secondly, path smoothness constraints are proposed in the adaptive function. These constraints reduce the large-angle turns and non-essential turns, improving the smoothness of the generated path. The algorithm integrates the roulette and tournament methods in the selection stage to enhance the searching ability and prevent premature convergence. Additionally, the crossover stage introduces the edit distance and a two-layer crossover operation based on it to avoid ineffective crossover and improve convergence speed. In the mutation stage, we propose a new mutation method and introduce a three-stage mutation operation based on the idea of simulated annealing. This makes the mutation operation more effective and efficient. The three-stage mutation operation ensures that the mutated paths also have high weights, increases the diversity of the population, and avoids local optimality. Additionally, we added a deletion operation to eliminate redundant nodes in the paths and shorten them. The simulation software and experimental platform of ROS (Robot Operating System) demonstrate that the improved algorithm has better path search quality and faster convergence speed. This effectively prevents the algorithm from maturing prematurely and proves its effectiveness in solving the path planning problem of AGV (automated guided vehicle).

Conflict-free coordination planning for multiple automated guided vehicles in an intelligent warehousing system

With the rapid development of intelligent manufacturing, the application of automated guided vehicles (AGVs) in intelligent warehousing systems has become increasingly common. Efficiently planning the conflict-free paths of multiple AGVs while minimizing the total task completion time is crucial for evaluating the performance of the system. Distinguishing itself from recent approaches where conflict avoidance strategy and path planning algorithm are executed independently or separately, this paper proposes an improved conflict-free A* algorithm by integrating the conflict avoidance strategy into the initial path planning process. Based on the heuristic A* algorithm, we use the instruction time consumption as the key evaluation indicator of the cost function and add the turning consumption in the future path cost evaluation. Moreover, the expansion mode of child nodes is optimized where a five-element search set containing the “zero movement” is proposed to implement a proactive pause-wait strategy. Then the prediction rules are designed to add constraints to three types of instructions based on the timeline map, guiding the heuristic planning to search for conflict-free child nodes. Extensive simulations show that the coordination planning based on the improved conflict-free A* algorithm not only effectively achieves advanced conflict avoidance at the algorithmic level, but also exhibits lower computational complexity and higher task completion efficiency compared to other coordination planning methods.

Automotive intelligence: Unleashing the potential of AI beyond advance driver assisting system, a comprehensive review

Big data, AI, and machine learning have ushered in a transformative era in computer processing and application. AI's capacity to emulate human cognition spans a spectrum of industries, from rudimentary tasks to intricate decision-making processes. Projections indicate that within a short span, AI technology will bestow computers with human-like capabilities, rendering it indispensable. This advancement has substantially bolstered industry autonomy, fortifying security and safety through the integration of electronics, internet connectivity, advanced algorithms, and cutting-edge processing chips.In this context, Automated Guided Vehicles (AGVs) leverage AI-powered systems and sensors to optimize performance and proactively thwart potential failures. Going beyond Advanced Driver Assistance Systems (ADAS), this review scrutinizes the broader spectrum of AI applications. Specifically, it synthesizes pertinent studies encompassing AI's impact on car emissions, predictive maintenance, security, and the realm of connected vehicles.While AGVs can utilize AI algorithms to chart emission-efficient routes and engineer energy-conservative vehicles, AI, through diverse algorithms, proficiently anticipates component failures, substantially enhancing the cost-effectiveness of predictive maintenance and bolstering vehicle reliability. Moreover, AI integrated with sensor technology safeguards vehicles against a spectrum of threats. Neural networks and machine learning further automate security measures for both cargo and passengers. Concurrently, AI and machine learning fortify traffic control and enhance vehicle communication within connected vehicle frameworks, albeit necessitating fortifications in data security, encryption, and system efficiency.This survey paper comprehensively covers the expanse of automotive AI and machine learning applications, extending beyond ADAS. It underscores that the evolving mobility landscape necessitates a thorough evaluation of network architecture, connectivity, and performance metrics, encompassing AGV technology, networking protocols, and swarm dynamics. In this vein, the paper advocates for experts to address existing literature gaps and proactively enhance automotive systems.

Distributed predictive motion planning of automated guided vehicles: serial versus parallel schemes

The article presents two distributed motion planning methods for dynamically coordinating multiple automated guide vehicles (AGVs) in an industrial setting, aiming to enhance their flexibility, robustness and scalability. A predictive motion model is utilized to describe the transport process mathematically as a dynamical system. Subsequently, alternating direction method of multipliers (ADMM)-based decomposition techniques, both serial and parallel, are developed to coordinate the AGVs and mitigate the computational burden. The efficacy of the distributed methods is verified through testing in industrial scenarios, demonstrating that they can significantly improve multi-AGV system transport productivity with minimal computational effort. Notably, the parallel scheme exhibits superior performance in coordinating the AGVs compared to the serial scheme.

A reinforcement learning-based hyper-heuristic for AGV task assignment and route planning in parts-to-picker warehouses

Globally, e-commerce warehouses have begun implementing robotic mobile fulfillment systems (RMFS), which can improve order-picking efficiency by using automated guided vehicles (AGVs) to realize operations from parts to pickers. AGVs depart from their initial points, move to a target rack position, and subsequently transport racks to picking stations. The AGVs return the racks to their original positions after the workers pick them up. When all tasks are completed, the AGVs return to their starting point. In this context, the main challenge is the task assignment and route planning of multiple AGVs to minimize travel times. We formulate a mixed-integer linear programming (MILP) model with valid inequalities to solve small problem instances optimally. We introduce a reinforcement learning (RL)-based hyper-heuristic (HH) framework to solve large instances to near-optimality. A typical HH framework comprises two levels: high-level heuristics (HLH) and low-level heuristics (LLH). The framework starts from an initial solution and improves iteratively through LLHs, while the HLH invokes a selection strategy and an acceptance criterion to generate a new solution. We propose a novel selection strategy based on the improved Multi-Armed Bandits algorithm called Co-SLMAB and Exponential Monte Carlo with counters (EMCQ) as the acceptance criterion. The corresponding collision avoidance rules are then formulated for different conflicts to construct a conflict-free traveling route for AGVs. Besides testing the proposed framework’s effectiveness in real-life warehouse layouts, we perform extensive computational experiments and a thorough sensitivity analysis. The results show that (i) the proposed valid inequalities aid in obtaining better lower bounds and significantly speed up the solution process; (ii) the Co-SLMAB-HH framework is quite competitive compared to CPLEX, outperforming the other tested hyper-heuristics and the problem-specific heuristic regarding convergence and computation time; and (iii) a pool of LLHs consisting of a wide range of different operators is advantageous over a limited set of simple operators while solving problems using hyper-heuristics.

Hassle - Free Load Carrying Using Automated Guided Vehicle

In today's rapidly evolving world, where efficiency and sustainability are paramount, businesses are seeking technologies that not only save time and drive profits but also align with their sustainable goals. In response to this demand, a prototype of an Automated Guided Vehicle (AGV) is developed.AGVs are versatile robotic platforms designed to navigate predefined paths while handling heavy loads of materials. The AGV system addresses these needs by utilizing cost-effective RFID tags and an RFID reader for efficient load tracking and navigation. Additionally, it incorporates two infrared (IR) sensors for path detection, an L298N motor driver for precise motor control, an Arduino microcontroller as the central processing unit, and an HC-05 Bluetooth module for wireless communication.By integrating these components, along with feedback control loops and path planning algorithms, The AGV is observed to be an efficient load carrier and can navigate reliably in dynamic environments. Above all, this solution not only saves time and enhances profitability but also promotes sustainability by optimizing resource utilization and minimizing manual intervention. Key Words: AGV(Automated Guided Vehicle),RFID(Radio Frequency Identification) tags, RFID (Radio Frequency Identification)reader, IR sensors, L298N Motor driver, Microcontroller.