An Improved Bounded Conflict-Based Search for Multi-AGV Pathfinding in Automated Container Terminals  

作　　者：Xinci Zhou Jin Zhu 

机构地区：[1]Shanghai Maritime University,Logistics Science and Engineering Research Institute,Shanghai,200000,China

出　　处：《Computer Modeling in Engineering & Sciences》2024年第6期2705-2727,共23页工程与科学中的计算机建模（英文）

基　　金：supported by National Natural Science Foundation of China(No.62073212);Shanghai Science and Technology Commission(No.23ZR1426600).

摘　　要：As the number of automated guided vehicles(AGVs)within automated container terminals(ACT)continues to rise,conflicts have becomemore frequent.Addressing point and edge conflicts ofAGVs,amulti-AGVconflict-free path planning model has been formulated to minimize the total path length of AGVs between shore bridges and yards.For larger terminalmaps and complex environments,the grid method is employed to model AGVs’road networks.An improved bounded conflict-based search(IBCBS)algorithmtailored to ACT is proposed,leveraging the binary tree principle to resolve conflicts and employing focal search to expand the search range.Comparative experiments involving 60 AGVs indicate a reduction in computing time by 37.397%to 64.06%while maintaining the over cost within 1.019%.Numerical experiments validate the proposed algorithm’s efficacy in enhancing efficiency and ensuring solution quality.

关 键 词：Automated terminals multi-AGV multi-agent path finding(MAPF) conflict based search(CBS) AGV path planning 

分 类 号：TP31[自动化与计算机技术—计算机软件与理论]