AGV travel under FixResource with A star

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Ryosuke S asked Mar 12, '21 Ryosuke S commented Mar 31, '21

AGV travel under FixResource with A star

One of our customer would like to simulate AGV system in this movie. https://youtu.be/r0A_WrhcPxI?t=57

I was thinking a scenario like this: Using the A Star and FloorStorage, when agv carries flowitem to FloorStorage, replace it to BasicFR registered to A Star. By placing this BasicFR higher from the floor, enable agv to travel under this BasicFR if empty, go around it if loaded. Would this be possible?

From the behavior I see with A star, even if the BasicFR is placed higher, AGV will travel around it.

A star Collision.fsm

Software Version:

FlexSim 20.1.3

agv flexsim 20.1.3 a star

capture073.jpg (193.2 KiB)

a-star-collision.fsm (42.4 KiB)

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Ryosuke S commented · Mar 12, 2021 at 03:45 PM

I was thinking about the workaround for this, When flowitem arrives at the slot, I created a BasicFR in that slot and add it to the member of A* star, but agv ignores it and just travels into the BasicFR. If you add an object to A star, would it be ignored until you reset the simulation? Is there any way to make agv realize the BasicFR?

FloorStorage_and_collision.fsm

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capture075.jpg (61.8 KiB)

floorstorage-and-collision.fsm (67.7 KiB)

Ben Wilson ♦♦ commented · Mar 30, 2021 at 11:55 PM

Hi @Ryosuke S, was jason.lightfoot's or Jörg Vogel's answer helpful? If so, please click the red "Accept" button at the bottom of one of their answers. Or if you still have questions, add a comment and we'll continue the conversation.

If we haven't heard back from you within 3 business days we'll auto-accept an answer, but you can always unaccept and comment back to reopen your question.

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Answer 1 · 2021-03-21T16:39:32Z

Jason Lightfoot answered Mar 21, '21 Ryosuke S commented Mar 31, '21

UPDATE: This doesn't work as I thought. The objects seems to persist on the barrier table (looking at the routes) and there's no way of removing them dynamically that I can see. We'll put it on the development list to add astar with dynamic items added to he map and with height contraints based on the 'working height' of the task executer and the items it has loaded.

Original post: I've add a user command "dynamicAddAstarMember" which uses function_s to add the objects. I've been able to do that for your flow items without needing to create fixed resources. I've not been able to get the collection working properly so far as the destination must not be the item and so the flag to ignore barrier destinations might not be working.

This isn't really supported, as always these functions could change and any knock on effects haven't been tested.

You should also search for Kiva systems here in the forum.

floorstorage-and-collision_jl.fsm

floorstorage-and-collision-jl.fsm (67.3 KiB)

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Ryosuke S commented · Mar 22, 2021 at 04:49 AM

@jason.lightfoot This is interesting. It maybe useful as tentative solution. Let me give a try. I'll let you know the result in a day or two.

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Ryosuke S Ryosuke S commented · Mar 31, 2021 at 12:06 AM

@jason.lightfoot I tried out, but I think I need to know when agv enter the floorstorage and when it exits. If I'm not using the A star, probably I can track by agv states, but since I'm using A star, I can not track that. I've raise new question here.

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Answer 2 · 2021-03-12T07:58:17Z

Joerg Vogel answered Mar 12, '21

Yes, but only if your BasicFR is a member of AStar. You call it registered. If it is not a member considered as an obstacle, then the AGV drives through or under the object. You will combine AStar with a conditional Multi Agent System, which detects collisions of loaded AGV to stored BasicFR or mutual collisions of AGVs.

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