Turn penalty problem model for minimum time AGV routing

The minimum time AGV routing problem (MTARP) has been generally modeled as a shortest path routing problem with time window constraints. Previous results on MTARP, however, considered the velocity of each AGV to be constant. In this paper, it is asserted that the MTARP should consider turn penalty if acceleration/deceleration of each AGV is taken into account. Considering turn penalty yields an equivalent converted network from the given guidepath network, which can be an explicit network model for MTARP