Development of Swarm Intelligence Leader-Vicsek-Model for Multi-AGV Path Planning

Abstract

Automatic guided vehicle (AGV) is the mobile robot widely used in the industry, and multiple AGVs are usually involved for industrial intelligence. Path planning for multi-AGV is essential for automatic transportation, and we propose a swarm-based approach that is inspired by biological subjects. The dynamic virtual leader is assigned for updating the locations and angles for the Leader-Vicsek-Model, and multiple agents are assigned through the centralized approach while the path planning is achieved through the decentralized method.