Hello,
I've been familiarizing myself with the model presented in the dev talk by @anthony.johnson, and I understand this ok. I also downloaded the Kiva System Demo Model uploaded by @Markus Cueva. I am wondering what the pros and cons are of using AStar vs AGV for AMR modeling. Here is a list of things that I need to do:
- Routing:
- Modify how often a route is calculated, once at beginning or after every move or somewhere in between
- Add costs to each and every edge on the navigation grid: example cost 10 to go down, 1 to go up, thus preferred path is up.
- Allow routing certain paths/node types depending on whether a vehicle has a load or not
- Add extra costs for certain vehicle activities for example: turning
- Zones for different vehicles, with some shared nodes. Vehicle 1 can traverse node 1 and 2 but not node 3, vehicle 2 can traverse 2 and 3 but not node 1.
- Add waypoints that the vehicle must traverse through or stop to do something when going to certain destinations
- Gridlock resolution, detect gridlocks and allow user to resolve by rerouting or modifying grid
- Vehicle control:
- Modify speed of vehicle when reversing vs driving forward
- For pallet to picker applications, force the vehicle to reverse into specific locations and drive forward after leaving
- For shelf to picker applications, force the vehicle to drive forward into location and then do a 180 underneath the shelf to drive forward out of the pick location
- Charging and charging strategies such as opportunity charging, or charge after reaching x threshold
- Bin to picker applications that support crane type vehicles and their interactions with tote moving vehicles
- Grid:
- Allow non-uniform grid spacing
- Collision avoidance
- If two nodes on a grid are close together such that one vehicle would block two nodes, then do not allow another vehicle on either node
