Routing and scheduling in Multi-AGV systems based on dynamic banker algorithm

In this paper we propose modified Banker´s algorithm for routing and scheduling in multi-AGV systems. A mission path, determined by string algebra is executed in a way that some unsafe states are allowed in order to achieve better utilization of vehicles. Moreover, a method for splitting a mission path is proposed so that number of resources (arcs) needed for mission execution is gradually reduced which provides less restrictions on availability vector, thus allowing more traveling space for other vehicles. Results shown at the end of the paper demonstrate strength of the proposed method compared with standard Banker´s algorithm.