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A Heuristic for Path Planning of Multiple Heterogeneous Automated Guided Vehicles

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Abstract

This paper deals with a path planning problem of multiple heterogeneous Automated Guided Vehicles (AGVs). AGVs are heterogeneous as having different structures (average velocity) and functions (payload). By focusing on dispatching and routing of AGVs, we solve the problem by transform it into a multiple heterogeneous Hamiltonian path problem. We propose a heuristic based on primal-dual technique to solve the multiple heterogeneous Hamiltonian path problem. We implemented the heuristic and compared with the existing methods. The implementation results show that our proposed heuristic produces reasonable quality solutions within a short computation time.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Korea University, 145 Anam-ro, Sungbuk-gu, Seoul, 02841, Republic of Korea

    Jungyun Bae & Woojin Chung

Authors
  1. Jungyun Bae
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  2. Woojin Chung
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Correspondence to Jungyun Bae.

Additional information

Jungyun Bae Research Professor in the Department of Mechanical Engineering, Korea University. Her research interest is unmanned vehicles, path planning, multi-robot systems, VRP, TSP, optimization, collision avoidance and scheduling.

Woojin Chung Professor in the Department of Mechanical Engineering, Korea University. His research interest is autonomous navigation, wheeled robots, localization, motion planning and obstacle avoidance, SLAM.

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Bae, J., Chung, W. A Heuristic for Path Planning of Multiple Heterogeneous Automated Guided Vehicles. Int. J. Precis. Eng. Manuf. 19, 1765–1771 (2018). https://doi.org/10.1007/s12541-018-0205-x

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  • DOI: https://doi.org/10.1007/s12541-018-0205-x

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