A* Based Routing and Scheduling Modules for Multiple AGVs in an Industrial Scenario

A multi-AGV based logistic system is typically associated with two fundamental problems, critical for its overall performance: the AGV’s route planning collision and deadlock avoidance; task scheduling to determine which vehicle should transport load. Several heuristic functions can be used according application. This paper proposes a time-based algorithm dynamically control fleet of Autonomous Guided Vehicles (AGVs) in an automatic warehouse scenario. Our approach includes routing on A* search (TEA*—Time Enhanced A*) generate free-collisions paths module improve results algorithm. These modules work cooperatively provide efficient execution time considering as basis information. Simulation experiments are presented using typical industrial layout 10 20 AGVs. Moreover, comparison alternative from state-of-the-art also presented.