Multi-Agents Based Safe Path Planning of Autonomous Mobile Robots in Smart Factories

In the smart factory, multiple autonomous mobile robots (AMR) need to work together, which brings the problem of path conflicts. In addition, the smart factory should be able to handle the collaborative work with people, in order to plan the path reasonably without stopping the robot and ensure the safety of people. Hence, real-time control should be guaranteed, and the control algorithm needs to be robust and fast enough in order to ensure the safety of the planned path of AMR. Based on the characteristics of the smart factory, this paper presents a novel approach based on the avoidance vector field, which can realize the collision avoidance between each AMR and the dynamic intruder. A digital simulation platform is constructed to valid the effect of the proposed approach.