INESC TEC Publications

In April 2021 the Mari4_YARD project partner INESC TEC presented the paper “A* Based Routing and Scheduling Modules for Multiple AGVs in an Industrial Scenario” on Robotics, open access Journals and Books.

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

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Download the INESC TEC scientific paper