Optimized Direction Assignment in Roadmaps for Multi-AGV Systems Based on Transportation Flows

In this paper we propose a method for optimizing the design of a roadmap, used for motion coordination of groups of automated guided vehicles for industrial environments. Considering the desired flows among different locations in the environment, we model the problem as a multi-commodity concurrent flow problem, which allows us to assign the directions of the paths in an optimized manner. The proposed solution is validated by means of simulations, exploiting realistic layouts, and comparing the performance of the system with those achieved with a baseline roadmap.