An Improved Bounded Conflict-Based Search for Multi-AGV Pathfinding in Automated Container Terminals
作者机构:Shanghai Maritime UniversityLogistics Science and Engineering Research InstituteShanghai200000China
出 版 物:《Computer Modeling in Engineering & Sciences》 (工程与科学中的计算机建模(英文))
年 卷 期:2024年第139卷第6期
页 面:2705-2727页
核心收录:
学科分类:08[工学] 0701[理学-数学] 0812[工学-计算机科学与技术(可授工学、理学学位)]
基 金:supported by National Natural Science Foundation of China(No.62073212) Shanghai Science and Technology Commission(No.23ZR1426600)
主 题:Automated terminals multi-AGV multi-agent path finding(MAPF) conflict based search(CBS) AGV path planning
摘 要:As the number of automated guided vehicles(AGVs)within automated container terminals(ACT)continues to rise,conflicts have becomemore *** point and edge conflicts ofAGVs,amulti-AGVconflict-free path planning model has been formulated to minimize the total path length of AGVs between shore bridges and *** larger terminalmaps and complex environments,the grid method is employed to model AGVs’road *** improved bounded conflict-based search(IBCBS)algorithmtailored to ACT is proposed,leveraging the binary tree principle to resolve conflicts and employing focal search to expand the search *** experiments involving 60 AGVs indicate a reduction in computing time by 37.397%to 64.06%while maintaining the over cost within 1.019%.Numerical experiments validate the proposed algorithm’s efficacy in enhancing efficiency and ensuring solution quality.