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AUTOMATED GUIDED VEHICLE, ROUTING AND ALGORITHMS
Hameedah Sahib Hasan*
Mechanical Engineering
University Technology Malaysia
Malysia.
Ministry of Higher Education and Scientific Research,
Iraq.

Intan Z. Mat Darus

Mechanical Engineering
University Technology Malaysia
Malysia.

*Corrosponding author’s Email: hameedah211ou@gmail.com

Peer-review under responsibility of 3rd Asia International Multidisciplanry Conference 2019 editorial board
(http://www.utm.my/asia/our-team/)
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ABSTRACT
The routing problem of Automated Guided Vehicle (AGV) targets to discovery the shortest
path between two station. AGV is used widly in transporting sysrems. Earily it used in static
routing (pre-defined routes), which follow fixed line. Instead of using fixed path, there is
another type which is dynamic routing can use to add a high flexibility to the system.To
accommodate the increased flexibility and reduce time. In this paper, routing of AGV is
introduced. Different AGV shortest path algorithms are presented with highlights their main
differences between them. Furthermore, AGV routing in real time using local position system
(LPS) wthin labview environment is achived.
Keywords: AGV; Dynamic Routing; Shortest Path Algorithm; LPS
________________________________________________________________

RESEARCH OBJECTIVES
The aims of this paper is to give overview of AGV routing. Also explain several AGV
algorithms that used to find shortest path such as Dijkstra algorithm A-star algorithm, Short
Path Problem with Time Window (SPPTW), hybrid partial swarm optimization and genetic
algorithm PSO-GA. Three routing of AGV are disuss. The aim of AGV routing is to find route
that is shortest with possible time path and also feasible (1). In static routing, AGVs use a map
to follow the routes which are predetermined to travel from first station origin to last station
destination (2);(3). The other type is dynamic routing, to increase the speed of process to
finding the AGV routes. In this type the routing decision is depending on actual-time
information for calculation new routes (i.e., the route can change and update during the
implementation process (4). The last type of AGV routing is free range routing this route is
free range because it can use of total free space that is available in the facility without use any
fixed paths. On the other hand, the Position system has two types that is global positioning
system (GPS) and local positioning system (LPS). LPS used widely in many applications such
as Wi-Fi, (RFID), ultrasound systems (IR), Bluetooth, and vision-based systems (5).

RESULTS
AGV Algorithms focus on finding the feasible routes for AGV(1). The design of the algorithm
of AGV routing is to make routing optimization easy and feasible that is related to arrival time,
the avoidance of static obstacles and the planned trajectories of other AGV. AGV algorithm
for dynamic routing is classify to several types. The first type of algorithm is optimal algorithm
used to obtained the global optimal sollution. Another type based on Heuristic approaches that
is discover partial of the available solutions and obtain an nearly solution Finally, there is
hybrid approach based algorithms effect the strengths of both of the previous approaches(6).
Table 1 Comparison of three types AGV routing
AGV Routing Feature Static Dynamic Free Range
The routes that fixed specific route for each use of total free space
Use
into the infrastructure new transportation job available in the facility
increases speed of
Speed Limited speed Better speed
process
Increase Number of infinite number of
Direction Limit route
routes possible routes
Reduced route length less Medium More
Throughput Normal High maximum

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In Table 2, can we see the real values and average measured values using 100 samples.
Table2. Real and Average Measured values (7).
Real values (cm) Average measured values (cm) Accuracy (cm)
No
x y x y x y
1 40 80 29.3 72.4 10.7 7.6
2 40 120 45.3 110.7 5.3 9.3
3 40 160 39.7 173 0.3 13
4 80 80 68.6 75.2 11.4 4.8
5 80 120 69.1 118.8 10.9 1.2
6 80 160 71.7 172.7 8.3 12.7
7 120 80 116.8 67.9 3.2 12.1
8 120 120 109.9 127.1 11.1 7.1
9 120 160 113.8 166.7 6.2 6.7
10 160 40 152.7 38 7.3 2
11 160 80 143.2 70 16.8 10
12 160 160 154 175 6 15

CONCLUSION
In this paper routing of AGV, different AGV shortest path algorithm such as Dijkstra algorithm
A-star algorithm, Short Path Problem With Time Window (SPPTW), hybrid partial swarm
optimization and genetic algorithm PSO-GA are presented with highlights and several
limitations among them are observed. Futhermore, the controller using Labview software
directs an AGV along both of static and dynamic routing in real time using LPS

ACKNOWLEDGEMENT
State any acknowledgement if it is required.

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