Mission design for a group of autonomous guided vehicles

Authors:
Elias K. Xidias;Philip N. Azariadis
Affiliations:
-;-
Venue:
Robotics and Autonomous Systems
Year:
2011

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Abstract

In this paper, a generic approach for the integration of vehicle routing and scheduling and motion planning for a group of autonomous guided vehicles (AGVs) is proposed. The AGVs are requested to serve all the work stations in a two-dimensional environment while taking into account kinematics constraints and the environment's geometry during their motion. The problem objective is the simultaneous determination of time-optimum and collision-free paths for all AGVs. The proposed method is investigated and discussed through a number of simulated experiments using a variety of environments and different initial conditions.