AGV Deallocation does not take custom centroid into account

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Mischa Spelt asked Mar 23, '23 Mischa Spelt commented Apr 11, '23

AGV Deallocation does not take custom centroid into account

Suppose the Deallocation strategy for a control point is set to Trailing Edge.

When the AGV has a custom centroid (centroid value 2, with subnodes indicating the relative position of the center), it seems that the trailing edge is incorrectly calculated when the x-value is not equal to 0.5.

See the attached model, for instance, where the three AGVs have centroid [0, 0.5, 0.5], [0.5, 0.5, 0.5] and [1, 0.5, 0.5], respectively. They all leave a control point with deallocation strategy "trailing edge + 1m". As you can see, they deallocate the control point when their trailing edge passes 0, 1 and 2 m respectively.

It seems like the deallocation always occurs after 1 m of travel.

Deallocation_Centroid.fsm

Edit: as a workaround, I suspect that when centroid.x > 0.5, I can add (centroid.x - 0.5) * agvSize to the deallocation distance as a workaround... so I guess my two questions are

(1) is this a bug and

(2) is the formula for the workaround correct?

Software Version:

FlexSim 23.0.4

agv agv deallocation types rotational centroid

deallocation.png (53.2 KiB)

deallocation-centroid.fsm (43.1 KiB)

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Mischa Spelt commented · Apr 05, 2023 at 07:36 AM

@anthony.johnson I realize the combination of centroid = 2 and deallocate after distance is probably quite obscure, but could you confirm whether this is a bug or not? Thanks :-)

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Answer 1 · 2023-04-07T17:56:08Z

anthony.johnson answered Apr 7, '23 Mischa Spelt commented Apr 11, '23

The AGV module was designed assuming that the AGVs use a standard centroid. Non-standard centroids aren't supported.

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Mischa Spelt commented · Apr 11, 2023 at 10:50 AM

Yes, it doesn't work. No, it's not a bug. Got it! :-)

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