Document Type

Research Paper

Publication Date

Summer 6-21-2023


With the trend in intralogistics from Automated Guided Vehicles (AGV) to free ranging Autonomous Mobile Robots (AMR), vehicle-based transportation systems further in-crease their flexibility, scalability and performance. However, these benefits come at the cost of an increase in complexity caused by the AMRs’ high degree of freedom, e.g. when it comes to the determination of routes. In addition to manifold approaches to the selection of a global route and the avoidance of local routing con-flicts with other vehicles, this paper discusses the idea of applying a set of offline defined rules. Lowering the AMRs’ degree of free-dom, these rules enable a coordination of movements, lower the probability of routing conflicts beforehand and reduce the overall calculation effort. The paper shows a general approach to the definition of rules that is adaptable to a specific layout, fleet size and transportation demand. In a use case, the paper compares the approach to a simple benchmark strategy and shows the impact on the transportation system performance.

Publication Title

Progress in Material Handling Research