Abstract Real-time path planning for large, dense grid-based automated guided vehicle (AGV) systems, used for example to sort parcels, is challenging. Most approaches described in the literature are not fast enough for real-time control or are not able to avoid congestion. This paper presents a dynamic approach using a graph-representation of the grid system layout with vertex weights that are updated over time. By means of an extensive discrete-event simulation, we show that the proposed path planning approach significantly increases the throughput compared to existing approaches. Furthermore, it enables the recovery from deadlock situations.

中文翻译：

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一种用于密集、大型、基于网格的自动导引车系统的动态路径规划方法

摘要 大型、密集的基于网格的自动导引车 (AGV) 系统的实时路径规划，例如用于分拣包裹，具有挑战性。文献中描述的大多数方法都不够快，无法进行实时控制或无法避免拥塞。本文提出了一种动态方法，使用网格系统布局的图形表示，顶点权重随时间更新。通过广泛的离散事件模拟，我们表明与现有方法相比，所提出的路径规划方法显着提高了吞吐量。此外，它还可以从死锁情况中恢复。