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jfoster avatar image
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jfoster asked Jeanette F commented

AMR costs for turning

Is there a way to add costs for turning?

  • For instance, a path with two 90-degree turns is less desirable than a path with zero 90 degree turns.
  • Furthermore, a path with the same number 90-degree turns but one path is in the opposite direction of the vehicle orientation so it would require an additional 180-degree turn, how do I account for this cost?
FlexSim 25.0.1
agvroutingamrpathfinding
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Jeanette F avatar image Jeanette F ♦♦ commented ·

Hi @jfoster, was Felix Möhlmann's answer helpful? If so, please click the "Accept" button at the bottom of their answer. Or if you still have questions, add a comment and we'll continue the conversation.

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1 Answer

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Felix Möhlmann answered Felix Möhlmann commented

As long as the time loss due to deceleration/acceleration at turning points is small compared to the loss due to the rotation time itself, simply using the "Divide By Speed" option in the AGV Network properties (General tab) will take care of that.

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jfoster avatar image jfoster commented ·
Does this take into account the current orientation of the vehicle when determining the path? Two paths may be equal in terms of distance/rotation however the current orientation of the vehicle is important since the vehicle always wants to travel forward. A path that requires no initial rotation is more desirable than a path that requires a 180 degree rotation initially.
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Felix Möhlmann avatar image Felix Möhlmann jfoster commented ·
Yes, you can easily test this by building two routes to a destination, one where the TE needs to turn around first and one where it doesn't. It will prefer the second one, even if the distance is slightly longer (up until the basic math during routing will determine that turning around is better).
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jfoster avatar image jfoster Felix Möhlmann commented ·

flexsimex.jpg

In the image you can see the red path takes longer since the turning/rotation required is greater than the turning/rotation required for the blue. However, from the first pickup the vehicle actually takes the red path instead of the blue path. I cannot figure out why. I implemented you suggestion by checking the "Divide by speed" box but nothing changed. Here is the model amr.fsm

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flexsimex.jpg (58.1 KiB)
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