Conflict-Free Route Planning For Autonomous Transport Vehicle

This study deals with the problem of conflict-free route planning for multiple autonomous transport vehicles. In this study, an algorithm based on A* algorithm to solve conflict-free routing problems for multiple autonomous transport vehicles, is proposed. While classical A* algorithm plans routes for a single start and end node at the same time, the proposed algorithm plans routes for multiple start and end nodes without conflicts. The proposed algorithm apply waiting or change the route strategies to resolve conflict types. The proposed algorithm has been tested on multiple autonomous transport vehicles having different velocities (heterogeneous). Tests conducted within the scope of the study, show that the proposed algorithm finds effective conflictfree routes.