A Dual-Layer Weight-Leader-Vicsek Model for Multi-AGV Path Planning in Warehouse
Multiple automatic guided vehicles are widely involved in industrial intelligence. Path planning is crucial for their successful application. However, achieving robust and efficient path planning of multiple automatic guided vehicles for real-time implementation is challenging. In this paper, we pro...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-11-01
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| Series: | Biomimetics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2313-7673/8/7/549 |
| _version_ | 1827640404847099904 |
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| author | Shiwei Lin Ang Liu Jianguo Wang |
| author_facet | Shiwei Lin Ang Liu Jianguo Wang |
| author_sort | Shiwei Lin |
| collection | DOAJ |
| description | Multiple automatic guided vehicles are widely involved in industrial intelligence. Path planning is crucial for their successful application. However, achieving robust and efficient path planning of multiple automatic guided vehicles for real-time implementation is challenging. In this paper, we propose a two-layer strategy for multi-vehicle path planning. The approach aims to provide fast computation and operation efficiency for implementation. The start–destination matrix groups all the vehicles, generating a dynamic virtual leader for each group. In the first layer, the hybrid A* algorithm is employed for the path planning of the virtual leaders. The second layer is named leader–follower; the proposed Weight-Leader-Vicsek model is applied to navigate the vehicles following their virtual leaders. The proposed method can reduce computational load and achieve real-time navigation by quickly updating the grouped vehicles’ status. Collision and deadlock avoidance is also conducted in this model. Vehicles in different groups are treated as dynamic obstacles. We validated the method by conducted simulations through MATLAB to verify its path-planning functionality and experimented with a localization sensor. |
| first_indexed | 2024-03-09T16:59:14Z |
| format | Article |
| id | doaj.art-1215d888d91c4936a096acc48e8ecd8b |
| institution | Directory Open Access Journal |
| issn | 2313-7673 |
| language | English |
| last_indexed | 2024-03-09T16:59:14Z |
| publishDate | 2023-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj.art-1215d888d91c4936a096acc48e8ecd8b2023-11-24T14:31:42ZengMDPI AGBiomimetics2313-76732023-11-018754910.3390/biomimetics8070549A Dual-Layer Weight-Leader-Vicsek Model for Multi-AGV Path Planning in WarehouseShiwei Lin0Ang Liu1Jianguo Wang2Faculty of Engineering and Information Technology, University of Technology Sydney, Sydney, NSW 2007, AustraliaFaculty of Engineering and Information Technology, University of Technology Sydney, Sydney, NSW 2007, AustraliaFaculty of Engineering and Information Technology, University of Technology Sydney, Sydney, NSW 2007, AustraliaMultiple automatic guided vehicles are widely involved in industrial intelligence. Path planning is crucial for their successful application. However, achieving robust and efficient path planning of multiple automatic guided vehicles for real-time implementation is challenging. In this paper, we propose a two-layer strategy for multi-vehicle path planning. The approach aims to provide fast computation and operation efficiency for implementation. The start–destination matrix groups all the vehicles, generating a dynamic virtual leader for each group. In the first layer, the hybrid A* algorithm is employed for the path planning of the virtual leaders. The second layer is named leader–follower; the proposed Weight-Leader-Vicsek model is applied to navigate the vehicles following their virtual leaders. The proposed method can reduce computational load and achieve real-time navigation by quickly updating the grouped vehicles’ status. Collision and deadlock avoidance is also conducted in this model. Vehicles in different groups are treated as dynamic obstacles. We validated the method by conducted simulations through MATLAB to verify its path-planning functionality and experimented with a localization sensor.https://www.mdpi.com/2313-7673/8/7/549path planningVicsek modelleader–followerhybrid A*multiple automatic guided vehicles |
| spellingShingle | Shiwei Lin Ang Liu Jianguo Wang A Dual-Layer Weight-Leader-Vicsek Model for Multi-AGV Path Planning in Warehouse Biomimetics path planning Vicsek model leader–follower hybrid A* multiple automatic guided vehicles |
| title | A Dual-Layer Weight-Leader-Vicsek Model for Multi-AGV Path Planning in Warehouse |
| title_full | A Dual-Layer Weight-Leader-Vicsek Model for Multi-AGV Path Planning in Warehouse |
| title_fullStr | A Dual-Layer Weight-Leader-Vicsek Model for Multi-AGV Path Planning in Warehouse |
| title_full_unstemmed | A Dual-Layer Weight-Leader-Vicsek Model for Multi-AGV Path Planning in Warehouse |
| title_short | A Dual-Layer Weight-Leader-Vicsek Model for Multi-AGV Path Planning in Warehouse |
| title_sort | dual layer weight leader vicsek model for multi agv path planning in warehouse |
| topic | path planning Vicsek model leader–follower hybrid A* multiple automatic guided vehicles |
| url | https://www.mdpi.com/2313-7673/8/7/549 |
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