Realization of AGV Task Management

The paper discusses a beneficial approach on semi -autonomous path planning for multiple AGVs (autonomous ground vehicles). The proposed architecture accommodates multiple AGVs in the same workspace and each vehicle shares the global navigation orchestrations. In the paper, the navigation orchestration is also called Task. Each individual vehicle can switch tasks at will in any workspace. Multiple AGV vehicles driven semi-autonomously in the system are monitored simultaneously and continuously, so as to avoid collisions to a certain extent. Thanks to BPMN, multiple AGV workflows are designed conveniently and loose coupled. All the AGV vehicles are running in their own workflow state machines, together with the help of the HMI, the real-time monitoring, the task switching and the conflict solution can be carried out.