An Improved Bounded Conflict-Based Search for Multi-AGV Pathfinding in Automated Container Terminals

Abstract

As the number of automated guided vehicles (AGVs) within automated container terminals (ACT) continues to rise, conflicts have become more frequent. Addressing point and edge conflicts of AGVs, a multi-AGV conflict-free path planning model has been formulated to minimize the total path length of AGVs between shore bridges and yards. For larger terminal maps and complex environments, the grid method is employed to model AGVs' road networks. An improved bounded conflict-based search (IBCBS) algorithm tailored to ACT is proposed, leveraging the binary tree principle to resolve conflicts and employing focal search to expand the search range. Comparative experiments involving 60 AGVs indicate a reduction in computing time by 37.397% to 64.06% while maintaining the over cost within 1.019%. Numerical experiments validate the proposed algorithm's efficacy in enhancing efficiency and ensuring solution quality.