A temporal optimization applied to time enhanced A

Abstract

The coordination problem in multi-AGV systems can be approached as an optimization problem and aims to make possible the execution of several tasks simultaneously, avoiding collision and deadlock situations and reducing the average execution time. Time Enhanced A* (TEA*) is one of the path planning algorithms developed for this purpose. This paper focus on the implementation of the TEA* for real industrial applications. In that context, a new approach was developed to complement the TEA* with the capacity to approximate the planning of the future positions for differential robots with its real behaviour.The coordination problem in multi-AGV systems can be approached as an optimization problem and aims to make possible the execution of several tasks simultaneously, avoiding collision and deadlock situations and reducing the average execution time. Time Enhanced A* (TEA*) is one of the path planning algorithms developed for this purpose. This paper focus on the implementation of the TEA* for real industrial applications. In that context, a new approach was developed to complement the TEA* with the capacity to approximate the planning of the future positions for differential robots with its real behaviour.