An Improved Bounded Conflict-Based Search for Multi-AGV Pathfinding in Automated Container Terminals

作     者：Xinci Zhou Jin Zhu 

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.