Route Planning Apparatus with Interruptible State Generation
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Solution Overview
Problem
Conventional optimization algorithms for route planning in Automated Guided Vehicles (AGVs) are NP-hard, leading to long calculation times and impracticality for obtaining optimal route plans, as they require complete calculation to determine a route.
Innovation Solution
A route planning apparatus and method that includes a state information generation unit, a stop unit, and a route searching unit, which generates state information periodically and stops when a condition is met, allowing for the search of a second route based on pre-generated state information, enabling route planning to be interrupted and resumed with a certain degree of optimality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If optimization algorithms (A*+OD or CBS) are used to obtain optimal route plans, then route optimality is improved, but calculation time increases significantly making the system impractical
Solution Approach 1:
The patent pre-calculates and stores state information (including position, velocity, and route data) at multiple time points before the vehicle reaches the target. This preliminary action creates a database of pre-computed states that can be quickly retrieved and used to construct routes without requiring complete optimization calculation, thus resolving the contradiction between route optimality and calculation time.
Solution Approach 2:
Instead of completing the full optimization calculation to guarantee optimal routes, the patent uses partial calculation results from pre-computed state information. The system constructs satisfactory routes using available pre-calculated data rather than pursuing complete optimization, accepting that the routes may not be perfectly optimal but are sufficient for practical operation within time constraints.
2Manufacturing precision
If complete calculation is performed to determine optimal routes, then route quality is improved, but the system cannot provide routes if calculation is interrupted
Solution Approach 1:
The system pre-calculates and stores state information at multiple time points before the vehicle reaches the target, creating a reservoir of pre-computed data. This preliminary action ensures that even if the calculation is interrupted, the pre-stored state information can be retrieved and used to construct valid routes, thereby maintaining route availability while preserving reasonable route quality.
Solution Approach 2:
The patent prepares backup state information in advance at multiple time points, cushioning against the risk of calculation interruption. By having pre-computed state data ready beforehand, the system ensures that route construction can continue using available data even when the calculation process is interrupted, thus protecting route availability without sacrificing quality.
3Manufacturing precision
If the system waits for complete route calculation before allowing vehicle movement, then route optimality is improved, but operational efficiency deteriorates
Solution Approach 1:
The system performs pre-calculation of state information in advance and stores it for later use. This preliminary action allows the vehicle to proceed with route construction using pre-computed data without waiting for complete optimization calculation, thereby improving operational efficiency while maintaining reasonable route quality through the use of pre-prepared state information.
Solution Approach 2:
The patent uses partial pre-computed state information rather than waiting for complete optimization results. By constructing routes based on available pre-calculated data without requiring full optimization completion, the system enables vehicles to move forward promptly, improving operational efficiency while accepting that routes may not be perfectly optimal but are sufficient for practical operation.
Data Source
AI summary
A route planning apparatus 1 includes a state information generation unit 2 configured to generate, every unit time, state information indicating a state of each moving object 20, in a search for a first route to a target site corresponding to the moving object 20, a stop unit 3 configured to stop generation of the state information when a condition for stopping generation of the state information is satisfied, and a route searching unit 4 configured to search for a second route to the target site, based on the state information generated before the state transitioned, after generation of the state information is stopped.