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Published in:
2016 | OriginalPaper | Chapter
Validation of a Time Based Routing Algorithm Using a Realistic Automatic Warehouse Scenario
Authors : Joana Santos, Pedro Costa, Luís Rocha, Kelen Vivaldini, A. Paulo Moreira, Germano Veiga
Published in: Robot 2015: Second Iberian Robotics Conference
Publisher: Springer International Publishing
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Traffic Control is one of the fundamental problems in the management of an Automated Guided Vehicle (AGV) system. Its main objectives are to assure efficient conflict free routes and to avoid/solve system deadlocks. In this sense, and as an extension of our previous work, this paper focus on exploring the capabilities of the Time Enhanced A* (TEA*) to dynamically control a fleet of AGVs, responsible for the execution of a predetermined set of tasks, considering an automatic warehouse case scenario. During the trial execution the proposed algorithm, besides having shown high capability on preventing/dealing with the occurrence of deadlocks, it also has exhibited high efficiency in the generation of free collision trajectories. Moreover, it was also selected an alternative from the state-of-art, in order to validate the TEA* results and compare it.