Offline Task Assignment and Motion Planning Algorithm Considering Agent's Dynamics

The aim of this study is to develop an algorithm for task assignment and movement planning to a destination by considering the acceleration and deceleration patterns of automated guided vehicles (AGVs). In this study, we propose an algorithm for task assignment and motion planning for AGV kinematics...

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Vydáno v:International Conference on Automation, Robotics and Applications (Online) s. 239 - 243
Hlavní autoři: Shimizu, Tomoaki, Taneda, Kosuke, Goto, Ayumu, Hattori, Tomoya, Kobayashi, Toyokazu, Takamido, Ryota, Ota, Jun
Médium: Konferenční příspěvek
Jazyk:angličtina
Vydáno: IEEE 10.02.2023
Témata:
Dynamic scheduling
Dynamics
Heuristic algorithms
Kinematics
MAPD
MAPF
motion planning
Planning
Remotely guided vehicles
Resource management
task assignment
ISSN:2767-7745
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Shrnutí:The aim of this study is to develop an algorithm for task assignment and movement planning to a destination by considering the acceleration and deceleration patterns of automated guided vehicles (AGVs). In this study, we propose an algorithm for task assignment and motion planning for AGV kinematics with multiple search trees based on the conflict-based search with optimal task assignment (CBS-TA) of Hönig et al. By devising the options for AGV actions and settings for standby actions, the algorithm can perform optimal motion planning for each AGV, considering its dynamic characteristics.
ISSN:2767-7745
DOI:10.1109/ICARA56516.2023.10125759