Modify the speed of an AGV on a specific mandatory path

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Rocio A asked Feb 6, '25 Rocio A commented Feb 12, '25

Modify the speed of an AGV on a specific mandatory path

Hello, I have a model with AGVs that circulate through a mandatory Path within an A*. The AGV logic is as shown in the image.

The AGV must go to each delivery point that is separate from the main path and joins it with another mandatory path.

The AGV has a speed to travel the main mandatory path, but I need the speed of the AGV to be lower on the mandatory path that reaches the node.

How can I change the speed while the AGV travels on that mandatory path?

I attach the model.simplificacion-control-area-in-astar-flujos loops Resources_List_RunSubFlow 20250131_7.fsm

Thanks in advance

Software Version:

FlexSim 24.1.1

agv mandatory path a start velocidad

1738850651668.png (34.8 KiB)

simplificacion-control-area-in-astar-flujos-loops.fsm (99.3 KiB)

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Borja Lorenzo commented · Feb 06 at 04:04 PM

In relation to this question

I am working with my colleague on the same project. Regarding this published question, I wanted to clarify that adding a nodeWork at the turning point to detect the event when the TaskExecuter arrives there to start the trajectory towards the final point is not viable due to maintenance and scalability. The project consists of more than 200 delivery points. We wanted to minimize the number of elements/objects in the model to what is strictly necessary to facilitate its management. Is there any trigger in the path that detects when it is occupied that allows triggering a speed modifier for the TaskExecuter occupying it?

We have studied @Felix Möhlmann 's response to a similar approach:

https://answers.flexsim.com/answers/142896/view.html

As I mentioned, we wanted to avoid having to add 200 more elements to the model.

Thanks in advance.

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Answer 1 · 2025-02-10T08:03:44Z

Felix Möhlmann answered Feb 10, '25 Rocio A commented Feb 12, '25

Since control areas were added to the A* system, you could use their OnAllocate event to update the speed of the Task Executer.

simplificacion-control-area-in-astar-flujos-loops_1.fsm

simplificacion-control-area-in-astar-flujos-loops.fsm (103.0 KiB)

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Rocio A commented · Feb 10 at 11:37 AM

Hello @Felix Möhlmann,

Thank you very much for your contributions. The use of the Control Area is very useful.

But the model we present is a simplification of the project we are working on and in it we have around 250 mandatoryPaths that we need to change the speed of.

There would be some way to achieve the same result but without adding any more elements to the model, that is, using the elements that we already have in it?

Thank you very much in advance.

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Felix Möhlmann Rocio A commented · Feb 10 at 11:58 AM

The only idea without adding some sort of waypoint would be to use a proximity agent system. If a traveller comes within a given radius of the destination object, its speed is reduced. Though the proximity radius is fixed. So if the final path spurs have different lengths, you would need multiple proximity systems.

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Rocio A Felix Möhlmann commented · Feb 11 at 11:20 AM

I was working with the ProximitySystem. I have configured it as you can see in the image:

In the Agents tab I have added the AGV's and the queues. I have set the Proximity Radius to 3m, so that when the AGV reaches the middle of the branch that leads to the queue, it changes its color to red and reduces its speed.

I can get the agents' color to change to red if they get closer or green if they move away, but I can't get the AGV to change its speed.

I have put both the color and the speed in the ProximitySystem triggers.

When running the model I get this error.

What error do I have in the speed code so that it doesn't work?

But I also have another problem: in the real model the AGVs have a return path and a return path very close together, so when they coincide next to each other they would also slow down and I DO NOT want this to happen. That is, I need the ProximitySystem not to be applied between AGVs, only each AGV with the queues.

I attached the model.

simplificacion-control-area-in-astar-flujos-loops (1)_2.fsm

Thank you Very much in advance.

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1739272810244.png (139.5 KiB)

simplificacion-control-area-in-astar-flujos-loops.fsm (106.0 KiB)

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