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T-Shigehiro avatar image
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T-Shigehiro asked T-Shigehiro edited

How to route avoiding control points where objects are placed

Items are placed on control points as shown in the attached model,

If the items on the control point can be moved by AGVs, please tell us how to realize the following two points.

Avoiding_items_on_control_points.fsm


・The AGV that transports the item should not be able to pass over the control point where the item is placed.

(The same applies to the control point where the moved item is placed.)


・AGVs that do not carry items can pass on the control point where the item is placed.


Ideally, a route would be selected that avoids control points where AGVs carrying items cannot pass at the start of the move.

FlexSim 24.0.9
agv routing
avoiding-items-on-control-points.fsm (42.7 KiB)
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1 Answer

Felix Möhlmann avatar image
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Felix Möhlmann answered T-Shigehiro edited

You can chech out the KIVA demo model that uses AGV paths. The dynamic barrier management in that model seems to be exactly what you need.

https://answers.flexsim.com/articles/132744/kiva-system-demo-model.html

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T-Shigehiro avatar image T-Shigehiro commented ·

I have referred to the KIVA demo model and confirmed that the dynamic barrier works.

However, with this model, the dynamic barrier does not work and does not avoid items on the control points.

Do you know the cause?

DynamicBarrierDisabled.fsm

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dynamicbarrierdisabled.fsm (94.1 KiB)
Felix Möhlmann avatar image Felix Möhlmann T-Shigehiro commented ·

The AGVs only plot their route after turning around at the dead end (which is weird, because they must have done so already, otherwise how do they know that they need to turn around?). This is also seemingly only the case if turning by 180°.

As a workaround, you can check if the AGV is rotating after the travel task started. If so, block the CPs again when the rotation ends (read from kinematic) and the route is determined.

dynamicbarrierdisabled_1.fsm

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dynamicbarrierdisabled-1.fsm (102.7 KiB)
T-Shigehiro avatar image T-Shigehiro Felix Möhlmann commented ·

Sorry, I have an additional question.


I am having a problem avoiding a shelf if a shelf is placed on the route of an AGV after the AGV has initiated a Travel.

Is there any way to work around this?

Am I wrong in thinking that the same thing happens in the KIVA system you introduced me to, if a shelf is started to travel after StartTask?

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