In accordance with regulations and requirements, the editorial department's website domain has been changed to arocmag.cn. The original domain (arocmag.com) will be discontinued after Dec. 31st, 2024.
Algorithm Research & Explore
|
2621-2625,2632

Conflict-free path planning for multi-AGV in automated terminals based on improved CBS algorithm

Zhou Xinci
Zhu Jin
Institute of Logistics Science & Engineering, Shanghai Maritime University, Shanghai 201306, China

Abstract

Increased number of AGV on automated container terminals leads to more frequent conflicts. This paper proposed an improved CBS algorithm. The bottom layer used the A* algorithm based on Manhattan distance, and the top layer combined the binary tree principle to build conflict trees to avoid conflicts between AGV. With the objective of minimizing the total path length of AGV between the shore bridge and the yard, the grid method used to developed the AGV road network mode. Considering the point conflict and edge conflict among AGV, the multi-AGV conflict-free path planning problem in automated terminals statuted as a multi-agent path planning problem. The experimental results show that the proposed algorithm shortens the total path length and increases the computational speed with a guaranteed blockage rate of 0%, which verifies the effectiveness of the algorithm.

Foundation Support

国家自然科学基金资助项目(62073212)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2023.02.0036
Publish at: Application Research of Computers Printed Article, Vol. 40, 2023 No. 9
Section: Algorithm Research & Explore
Pages: 2621-2625,2632
Serial Number: 1001-3695(2023)09-009-2621-05

Publish History

[2023-05-11] Accepted Paper
[2023-09-05] Printed Article

Cite This Article

周欣慈, 朱瑾. 基于改进CBS算法的自动化码头多AGV无冲突路径规划 [J]. 计算机应用研究, 2023, 40 (9): 2621-2625,2632. (Zhou Xinci, Zhu Jin. Conflict-free path planning for multi-AGV in automated terminals based on improved CBS algorithm [J]. Application Research of Computers, 2023, 40 (9): 2621-2625,2632. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.


Indexed & Evaluation

  • The Second National Periodical Award 100 Key Journals
  • Double Effect Journal of China Journal Formation
  • the Core Journal of China (Peking University 2023 Edition)
  • the Core Journal for Science
  • Chinese Science Citation Database (CSCD) Source Journals
  • RCCSE Chinese Core Academic Journals
  • Journal of China Computer Federation
  • 2020-2022 The World Journal Clout Index (WJCI) Report of Scientific and Technological Periodicals
  • Full-text Source Journal of China Science and Technology Periodicals Database
  • Source Journal of China Academic Journals Comprehensive Evaluation Database
  • Source Journals of China Academic Journals (CD-ROM Version), China Journal Network
  • 2017-2019 China Outstanding Academic Journals with International Influence (Natural Science and Engineering Technology)
  • Source Journal of Top Academic Papers (F5000) Program of China's Excellent Science and Technology Journals
  • Source Journal of China Engineering Technology Electronic Information Network and Electronic Technology Literature Database
  • Source Journal of British Science Digest (INSPEC)
  • Japan Science and Technology Agency (JST) Source Journal
  • Russian Journal of Abstracts (AJ, VINITI) Source Journals
  • Full-text Journal of EBSCO, USA
  • Cambridge Scientific Abstracts (Natural Sciences) (CSA(NS)) core journals
  • Poland Copernicus Index (IC)
  • Ulrichsweb (USA)