Path conflict processing algorithm based on GWM for AGVs

In view of the fact that the existing path planning methods of AGV are unable to solve the problem of dispatching task and deadlock,a new path conflict processing method named GWM was proposed to solve more complex path conflict problems.However,GWM was not efficient in some conflict scenarios.On this basis,a GWM-based path conflict processing algorithm named OCWG was proposed.This algorithm combined three path processing methods:waiting method,rerouting method and GWM.When the AGV position was refreshed,it detected whether it would conflict with other AGVs in the safe distance,and chose an appropriate path conflict processing method according to the real-time system state.The test results showed that OCWG algorithm took less time and satisfied all the requirements including repetitive tasks and dispatching tasks,without triggering collision warning and deadlock problems.