# AGV scheduling ###### tags: `ROBOTICS`, `AGV` Three methods https://kknews.cc/zh-tw/news/3nkrkey.html 1. AGV car traffic control regulation method based on path analysis http://www.agvbaike.com/agvyy/2019-09-25/6791.html 2. workstations design https://www.sciencedirect.com/science/article/pii/S036083520800137X#tbl1 3. Agv zone strategies google:Agv zone strategies https://www.sciencedirect.com/science/article/pii/S0166361599000688#FIG2 ![](https://i.imgur.com/iwDlLj3.png) Limited to one vehicle per workplace Regionally set transfer stations to do dynamic task balancing (zone adjustment procedure) 4. Real-Time Trajectory Planning google:AGV real-time trajectory planning https://ieeexplore.ieee.org/abstract/document/7303933?casa_token=HxzLyzCAb2kAAAAA:SXH3HNHJtjS9ay4kSKzWuopAZRvcKZFcWzc3ZXIvuzGchl1LwyUwusH0R0YlSebTWCvW_q24 Imitation of real city vehicle traffic management Reference smooth route Lane has dynamic vehicles (oncoming) Decide to stop or change lanes within a safe margin based on speed ![](https://i.imgur.com/q1sddsx.png) Dynamic area method reference: https://www.sciencedirect.com/science/article/pii/S0166361599000688#BIB5 - Egbelu and Tanchoco https://www.tandfonline.com/doi/abs/10.1080/00207548608919789 Set up a buffer zone, if multiple vehicles are in the same lane. The car is guided to the buffer zone. - Kim and Tanchoco https://www.tandfonline.com/doi/pdf/10.1080/00207549108948090?needAccess=true https://m.hanspub.org/journal/paper/30316 Introduce time windows, where node sets represent idle time windows. Route planning considering accessibility in idle time windows. One more time dimension reference. - Krishnamurthy heuristic procedure - Kim and Tanchoco https://www.tandfonline.com/doi/abs/10.1080/00207549308956848 One vehicle at a time. Tasks can only be assigned when the travel is idling. Find conflict-free paths. Assisted by traffic rules. https://www.tandfonline.com/doi/pdf/10.1080/00207548408942459?needAccess=true - Design of Automatic Guided Vehicle Systems https://www.tandfonline.com/doi/abs/10.1080/05695558208975046 - Path planning of automated guided vehicles https://ieeexplore.ieee.org/document/7279630 Collision prevention with improved A* (The current method is described in the text) ![](https://i.imgur.com/XFvnpPH.png) - Taghaboni-Dutta and Tanchoco An incremental planning method is proposed. This approach sacrifices the optimal path. https://www.tandfonline.com/doi/abs/10.1080/00207549508945352 - Genetic Algorithms https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=592343 https://www.researchgate.net/publication/257726078_Priority-Based_Genetic_Algorithm_for_Conflict-Free_Automated_Guided_Vehicle_Routing