Towards sustainable scheduling of a multi-automated guided vehicle system for collision avoidance

In previous studies, the behaviour of each vehicle is assumed to be constant in all situations. However, this assumption is unreasonable, as physical factors—such as load conditions or turn times—are not considered in the trajectory planning process, even though they significantly affect vehicle operation. Therefore, an algorithm for determining travel time between two adjacent nodes (A2D2T-A2AN) is proposed to resolve collisions caused by discrepancies between planned time and actual time, which make these collisions unpredictable. Additionally, vehicles can be controlled with varying accelerations depending on load conditions. Furthermore, an algorithm to adjust arrival times when a vehicle approaches a node (A2CAT-VT2N) is developed. To verify the efficiency and feasibility of these algorithms, several experiments were conducted using a chessboard map simulation under different conditions. The results demonstrate that our method is both suitable and effective for real-world applications.