Conflict-Free Path Planning for Autonomous Transport Vehicles
DOI:
https://doi.org/10.23055/ijietap.2025.32.2.10445Abstract
Autonomous Transport Vehicles (ATVs) are flexible robotic systems for transportation tasks in intra-logistics. It is very important to determine the most cost-efficient routes for ATVs within factory environments. Conflicts occur if more than one ATV moves at the same point in the same time interval. Conflicts cause unwanted delays, and it is crucial to determine the conflict-free routes for ATVs on the shop floor. Efficiently planning conflict-free paths for multiple AGVs and minimizing overall task completion time are essential for assessing system performance. In the study, a NonConflict-A* (NC-A*) algorithm that is based on the A* algorithm has been proposed to solve conflict problems in multiple ATVs. Unlike studies in the literature, the proposed algorithm performs pathfinding, conflict detection, and conflict resolution simultaneously. The NC-A* algorithm detects the conflicts while obtaining the paths, chooses the conflict resolution strategy that is the least costly according to the conflict types and produces the most cost-efficient route. The proposed algorithm aims to minimize the total route duration time while ensuring system safety by detecting and resolving all potential conflicts. The algorithm is tested for different conflict types of multiple ATVs traveling at various speeds. The solutions of the algorithm show that the algorithm determines all of the conflicts, selects the appropriate solution strategy and generates conflict-free routes.
Published
How to Cite
Issue
Section
License
The Author(s) must formally transfer each article's copyright before publication in the INTERNATIONAL JOURNAL OF INDUSTRIAL ENGINEERING. Such transfer enables the Journal to defend itself against plagiarism and other forms of copyright infringement. Your cooperation is appreciated.
You agree that the copyright of your article to be published in the INTERNATIONAL JOURNAL OF INDUSTRIAL ENGINEERING - THEORY, APPLICATIONS, AND PRACTICE is hereby transferred, throughout the World and for the full term and all extensions and renewals thereof, to INTERNATIONAL JOURNAL OF INDUSTRIAL ENGINEERING - THEORY, APPLICATIONS, AND PRACTICE.
The Author(s) reserve(s): (a) the trademark rights and patent rights, if any, and (b) the right to use all or part of the information contained in this article in future, non-commercial works of the Author's own, or, if the article is a "work-for-hire" and made within the scope of the Author's employment, the employer may use all or part of the information contained in this article for intra-company use, provided the usual acknowledgments are given regarding copyright notice and reference to the original publication.
The Author(s) warrant(s) that the article is Author's original work and has not been published before. If excerpts from copyrighted works are included, the Author will obtain written permission from the copyright owners and credit the article's sources.
The author also warrants that the article contains no libelous or unlawful statements and does not infringe on the rights of others. If the article was prepared jointly with other Author(s), the Author agrees to inform the co-Author(s) of the terms of the copyright transfer and to sign on their behalf; or in the case of a "work-for-hire," the employer or an authorized representative of the employer.
The journal does not provide the author copy of the final paper when it is published. The author(s) can make(s) a subscription to INTERNATIONAL JOURNAL OF INDUSTRIAL ENGINEERING - THEORY, APPLICATIONS, AND PRACTICE if they want to get the final paper that has already been published.
The journal is registered with the Library of Congress (ISSN # 1943-670X). All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, without the prior written permission of the journal.
The author reserves patent and trademark rights and the right to use all or part of the information contained in the article in future non-commercial works.
