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App. Res. of Comp. Accepted Paper
Vol. 42, 2025 No. 10

Conflict-free path planning for AGVs in automated container terminals considering energy consumption

Xing Daning
Chen Hui
Navigation College, Jimei University, Xiamen 361021, Fujian, China
DOI: 10.19734/j.issn.1001-3695.2025.03.0084

Abstract

To tackle the issues of path conflicts and high energy consumption of multiple Automated Guided Vehicles (AGVs) in automated terminals, this study proposed an improved conflict-free and energy-saving path planning method based on a time-space network. By assigning time information to terminal path nodes, it constructed an AGV time-space road network updatable according to time. Then, taking the minimization of the total AGV running time and total energy consumption as the objective function, and considering constraints like conflict avoidance and safe battery levels, it established an energy-saving path planning mathematical model based on the AGV time-space road network. ​ Next, it designed a Time-space Network (TSN) algorithm to solve the problem. The algorithm implemented the shortest-path algorithm in the AGV time-space network, detected and resolved conflicts, determined AGV priorities through a dynamic priority mechanism, and employed a hybrid conflict resolution strategy to generate conflict-free paths. Finally, comparative experiments validate the model and algorithm. The experimental results show that the TSN algorithm performs better in terms of average computing time, total AGV running time and energy consumption compared with the Astar algorithm with time window and the CBS algorithm, which can effectively improve the operation efficiency of the terminal.

Foundation Support

福建省自然科学基金面上项目(2021J01820)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2025.03.0084
Publish at: Application Research of Computers Accepted Paper, Vol. 42, 2025 No. 10

Publish History

[2025-06-17] Accepted Paper

Cite This Article

邢大宁, 陈慧. 考虑能耗的自动化集装箱码头AGV无冲突路径规划 [J]. 计算机应用研究, 2025, 42 (10). (2025-06-19). https://doi.org/10.19734/j.issn.1001-3695.2025.03.0084. (Xing Daning, Chen Hui. Conflict-free path planning for AGVs in automated container terminals considering energy consumption [J]. Application Research of Computers, 2025, 42 (10). (2025-06-19). https://doi.org/10.19734/j.issn.1001-3695.2025.03.0084. )

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.

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