Dynamic Free Range Routing for Automated Guided Vehicles

In this paper an algorithm is presented that allows for dynamic free range route planning for automated guided vehicles (AGVs). This routing algorithm is based on the route choice methodology from a microscopic pedestrian behavioral model. Until now, AGVs use a map of predefined, fixed paths that are combined to obtain routes along which they move from origin to destination point. Although it allows for reliable and safe automation of vehicles with limited maneuverability, the use of fixed paths leads to unnecessary long routes, congestion, deadlocks and makes the routing system vulnerable to disruptions at the level of route execution. The developed routing algorithm dynamically determines free ranging trajectories that are optimized regarding arrival time while avoiding static obstacles and collisions with other AGVs