Journal of System Simulation
Abstract
Abstract: Aiming at the problem of increasing travel time due to turning and obstacle avoidance in robotic mobile fulfillment systems(RMFS) with large-scale multi-AGV path planning, a path planning model with the shortest task completion time is established. A path planning model considering no-load AGV that can pass through the shelf is proposed, and the model is solved by an improving A* algorithm. The AGV operation stage is divided, an turning penalty value is introduced into the A* algorithm to reduce the turning times, and the obstacle avoidance priority with the obstacle avoidance waiting time is set. The simulation results show that the new path planning method considering turning and obstacle avoidance can reduce task completion time and travel path length, and improve order picking efficiency of the warehouse of a distribution center.
Recommended Citation
Li, Teng; Ding, Peipei; and Liu, Jinfang
(2022)
"Multi-Stage Multi-AGV Path Planning with Walk under Shelves for Robotic Mobile Fulfillment Systems,"
Journal of System Simulation: Vol. 34:
Iss.
7, Article 13.
DOI: 10.16182/j.issn1004731x.joss.21-1060
Available at:
https://dc-china-simulation.researchcommons.org/journal/vol34/iss7/13
First Page
1512
Revised Date
2022-01-07
DOI Link
https://doi.org/10.16182/j.issn1004731x.joss.21-1060
Last Page
1523
CLC
TP391.9
Recommended Citation
Teng Li, Peipei Ding, Jinfang Liu. Multi-Stage Multi-AGV Path Planning with Walk under Shelves for Robotic Mobile Fulfillment Systems[J]. Journal of System Simulation, 2022, 34(7): 1512-1523.
DOI
10.16182/j.issn1004731x.joss.21-1060
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