how to avoid collision using A*(A Star) in AGV System

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hntk asked Oct 10, '24 hntk commented Oct 10, '24

how to avoid collision using A*(A Star) in AGV System

Hello, I would like to inquire about methods to avoid collisions in relation to A*.

I am a beginner in FlexSim, and although I have done a lot of research on answers,

I have had difficulty finding information on the symptoms I am experiencing.

I have two questions.

1. When an AGV is navigating on an A* (A star) grid, is there a way for the user to perceive the grid?

I would like to control the user to perform certain actions when the AGV arrives at a specific grid by either putting the grid information into a token or any other method.

2. When an AGV is navigating on an A* (A star) grid using the "Travel" command,

there are situations in which the token in the Process Flow moves to the next step before the AGV arrives (whether it is traveling empty or loaded).

Why does this happen? Are there any other ways to resolve this issue apart from using delays?

I apologize for posting without the FSM model. Uploading or sharing the model is a violation of the rules.

Software Version:

FlexSim 24.2.0

agv travel a star grid avoid collision

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Answer 1 · 2024-10-10T07:21:00Z

Felix Möhlmann answered Oct 10, '24 hntk commented Oct 10, '24

1. Only indirectly. You can react to the "On AStar Navigate Path" event of the task executer and parse the kinematics to check if and when the TE will pass certain coordinates. But I don't think there is any way to listen for the allocation/arrival of specific grid cells.

2. See the section on acceleration/deceleration in the documentation. What this doesn't tell you is that you need to set the end speed to a negative value in the travel activity for it to be counted as 0.

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hntk commented · Oct 10 at 11:52 PM

you are a genius. i love you

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