Automated guided vehicles have gained an important role in the logistic industry with the development of automated production. For the efficient operation of robotics vehicles, it is necessary to plan routes well in order to ensure their optimal operation and thereby prevent potential conflicts. Is this work, we propose a route planning approach based on the SIPP algorithm. The SIPP algorithm is a fast form of the A* algorithm for scheduling in dynamic environments, with the concept of safe interval and earliest arrival times at a node. The algorithm takes into account the priority of vehicles when planning the route. The algorithm initially determines the path of the vehicle with the highest priority, then other vehicles follow. All lower priority vehicles must take into account the time occupation of node and roads of transit vehicles in their planning. If the algorithm assigns a waiting time to the vehicle, it waits in the node. In the updated algorithm, instead of waiting in the node, vehicles wait on the road in front of the node. By waiting on the road, vehicles allow free passage for other vehicles past the node and thus can reach their destination faster. In the event that there is not enough space on the current road for all vehicles to have a guaranteed safe waiting, then the updated algorithm suggests waiting on the previous road. The vehicle path planning approach is shown on simulation examples.
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