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Pierre G avatar image
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Pierre G asked Jason Lightfoot commented

CP allocation for AGV Travel with AGV Body Offset

Hi,

In the 24.0.0, if you create an AGV Travel task with a negative AGV Body Offset (the AGV will pass the point), it won't allocate the next CP even if this CP is close.


If you start with this situation :

1702396495263.png

You send the yellow AGV to the red CP with -1.2 AGV Body Offset :

1702396507549.png

As the yellow AGV doesn't allocate the blue CP, there is a collision between the 2 AGVs :

1702396518612.png


It might be related to this topic : https://answers.flexsim.com/questions/155489/behavior-of-a-send-agv-relative-to-trailer.html?childToView=155496#answer-155496


Thanks


CP allocation for AGV Travel with body offset.fsm

FlexSim 24.0.0
agv body offset
1702396495263.png (33.4 KiB)
1702396507549.png (27.2 KiB)
1702396518612.png (26.8 KiB)
cp-allocation-for-agv-travel-with-body-offset.fsm (31.7 KiB)
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Jason Lightfoot avatar image Jason Lightfoot ♦ commented ·
You've marked this as a beta bug - is it also present in the released version?
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Patrick Zweekhorst avatar image Patrick Zweekhorst Jason Lightfoot ♦ commented ·
When I added a question today there was no dropdown for the 24.0.0 release, so maybe that is the problem here
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Jason Lightfoot avatar image Jason Lightfoot ♦ Patrick Zweekhorst commented ·
Hi Patrick - yes I spotted that after I'd commented - we'll get that updated - thanks.


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Pierre G avatar image Pierre G Jason Lightfoot ♦ commented ·

Patrick is write, I was not able to select the 24.0.0 release.

So yes, this bug is also present in the released version.



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Jason Lightfoot avatar image
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Jason Lightfoot answered Jason Lightfoot commented

Thanks Pierre, I'm not sure this is a bug since you have not set the path to use accumulation and so consider space on the path. In the attached model you can see the blocking effect of doing so.

cp-allocation-for-agv-travel-with-body-offset_jl.fsm

I'll send it into the developer to consider if they want to change anything regarding allocating the next CP for the body offset.


cp-allocation-for-agv-travel-with-body-offset-jl.fsm (32.5 KiB)
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Pierre G avatar image Pierre G commented ·

Yes, I see that the accumulation is working well, even with a body offset. This use of accumulation enables most cases to be managed.

However, in complex situations (complex junctions, etc.), it is sometimes necessary to "bypass" traditional accumulation with CP management, which provides greater precision and control.

I also know that CPs can be allocated manually, but it seems to me that the behaviour described in this post should not require manual allocation (which is more complex), but should manage it natively.

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Jason Lightfoot avatar image Jason Lightfoot ♦ Pierre G commented ·
Well it's control points that get allocated, not the paths, and you've not told the AGV to travel to the control point yet, so why should it allocate it?
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