AGV Reroute To a CP After Navigation-Failed Event

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question

Arun Kr asked Mar 6, '23 Jason Lightfoot answered Apr 3, '23

AGV Reroute To a CP After Navigation-Failed Event

Hi,

I was experimenting with the AGV routing constraint API. In the attached model, I m blocking the AGV movement to CP2. When the token hits the travel activity the navigation error pops up and the on-navigation failed event triggered source releases a token. Due to the navigation error, the AGV doesn't move toward the CP5 which is the alternate agv destination when navigation fails. Is this the right way of modeling this behavior? RoutingConstraint.fsm

Regards,

Arun KR

Software Version:

FlexSim 23.0.4

agv routing

routingconstraint.fsm (46.4 KiB)

· 1

Arun Kr commented · Mar 06, 2023 at 10:29 AM

From the pf block which governs the agv movement, I can write a logic to reroute the agv. Curious to know, how the rerouting can be done with the token released from the one navigation failed.

Group x = Group("Group1");// Group of CP's
int Flag =0;

for(int k=1;k<=x.length;k++)
{

AGV.AllocatableObject cp = x[k];
if(cp.routingConstraint == AGV.RoutingConstraint.Blocked)
{
   Flag++;
}

}

if(Flag == x.length)
{
return 2;
}
return 1;

RoutingConstraint_1.fsm

0 ·

routingconstraint-1.fsm (47.2 KiB)

Answer 1 · 2023-04-03T15:48:11Z

Jason Lightfoot answered Apr 3, '23

Here's one approach. I override the return value of the navigation failed event with 2 (returning 1 crashes the model). I issue a preempting task sequence and also show how to push the AGV to a list without splitting the token or using a push to list with a timeout (which would cause the override to fail).

routingconstraint_jl.fsm

1680536874041.png (11.4 KiB)

routingconstraint-jl.fsm (53.3 KiB)

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