[2M1-GS-7] Agents: Multi-agent system (1)

[2M1-GS-7-03] Action Planning and Conflict Avoidance Algorithm considering State of Agent for Multi-Agent Pickup and Delivery

〇Tomoki Yamauchi¹, Yuki Miyashita¹, Toshiharu Sugawara¹ (1. Waseda University)

Keywords:Multi-Agent Pickup and Delivery, Automatic Guided Vehicle, Path Planning, Action Planning, State of Agent

In the transportation of materials by the automatic carrier robot, it is necessary to consider the direction of the traveling direction depending on the width and the distance from the road and the size and shape of robots and materials. But in this case, the shortest path length and the shortest path operating time may vary according to the difference in the time cost of each running action. In addition, the avoidance of the conflict between robots in the change of path and action must be considered. In this paper, we propose an agent model considering the direction of travel, and a route and action plan and a conflict avoidance algorithm considering the state of the agent to realize the efficient material transportation considering the shapes of robots and materials in the Multi-Agent Pickup and Delivery problem. Simulation experiments demonstrate that the proposed method can improve the material transport efficiency.