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Rahul R avatar image
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Rahul R asked Jason Lightfoot commented

A star navigator colision

My task executers are ending up in collision. How to handle such collision for A star navigator? I have checked enableCollisionAvoidance. Attached models tops at 8:00:20

astar-example2.fsm

FlexSim 22.1.0
FlexSim 21.2.4
agva star navigation
astar-example2.fsm (51.0 KiB)
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Felix Möhlmann avatar image
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Felix Möhlmann answered Jason Lightfoot commented

To have a task executer plot a course around another inactive task executor it has to be added as a dynamic barrier during the path calculation.

@anthony.johnson demonstrated this functionality in his KIVA system example model.

https://answers.flexsim.com/articles/107103/example-kiva-system-model.html

Essentially you react to a task executer triggering the path calculation with an event triggered source and return an array of objects that should act as barriers during the calculation.

1654754667848.png

I adjusted your model to return all task executers that are currently in an idle state.

astar-example2_fm.fsm


1654754667848.png (12.0 KiB)
astar-example2-fm.fsm (56.9 KiB)
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Rahul R avatar image Rahul R commented ·

Thanks Felix. A follow up question, do you know where I can understand the sequence of events such as calculate path, navigate path etc ?

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Jason Lightfoot avatar image Jason Lightfoot ♦ Rahul R commented ·
Answered in your other post.
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