Impact Analysis of Travel Time Uncertainty on AGV Catch-Up Conflict and the Associated Dynamic Adjustment

<table class="fixed-width table-group" id="tab9"><tr><td><table class="table"><colgroup><col style="width:10.19em"/><col style="width:10.19em"/><col style="width:9.08em"/><col style="width:7.96em"/><col style="width:7.96em"/><col style="width:5.74em"/></colgroup><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr class="thead"><td class="align_left">Adjustment strategy</td><td class="align_center">Number of “<svg height="14.589pt" id="M441" style="vertical-align:-5.30067pt" version="1.1" viewbox="-0.0498162 -9.28833 57.9582 14.589" width="57.9582pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M600 480C600 590 528 650 384 650H143L137 622C222 614 225 607 210 531L130 127C113 41 106 36 23 28L17 0H294L300 28C204 36 195 42 212 127L243 284L314 263C327 263 339 263 352 264C465 271 600 337 600 480ZM508 481C508 351 402 304 329 304C289 304 265 311 250 317L295 559C302 594 310 606 323 611C335 616 350 619 367 619C455 619 508 573 508 481Z" id="g113-81"></path></g><g transform="matrix(.013,0,0,-0.013,8.026,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z" id="g113-41"></path></g><g transform="matrix(.013,0,0,-0.013,12.524,0)"><path d="M384 393C384 425 346 448 294 448C244 448 200 431 150 399C75 351 23 271 23 176C23 90 52 45 132 19C150 13 166 9 195 2C245 -10 260 -27 260 -55C260 -92 234 -127 218 -145L237 -159C271 -137 333 -93 333 -18C333 43 283 62 228 74C199 80 186 84 172 89C116 109 101 150 101 210C101 318 164 400 241 400C276 400 301 390 327 356C334 347 338 343 346 345C367 349 384 374 384 393Z" id="g113-252"></path></g><g transform="matrix(.013,0,0,-0.013,17.816,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z" id="g113-42"></path></g><g transform="matrix(.013,0,0,-0.013,25.946,0)"><path d="M512 230V281L75 514V456L453 256V254L75 55V-3L512 230Z" id="g117-92"></path></g><g transform="matrix(.013,0,0,-0.013,37.209,0)"><path d="M620 675H597C578 656 570 650 541 650H144C112 650 104 653 94 675H72C59 618 42 552 23 493L53 491C71 534 88 564 105 585C124 608 144 615 238 615H290L197 121C182 40 174 34 88 28L82 0H361L367 28C275 34 266 38 281 121L374 615H441C522 615 543 608 553 583C562 560 566 531 565 493L597 494C603 551 612 629 620 675Z" id="g113-85"></path></g><g transform="matrix(.0091,0,0,-0.0091,44.385,3.132)"><path d="M396 114C349 71 317 59 274 59C216 59 123 104 123 241C123 342 180 400 246 400C283 400 317 386 348 359C355 352 361 348 366 348C378 348 401 371 402 394C402 405 398 413 385 424C369 437 337 451 294 451H293C254 451 193 434 141 394C73 342 39 277 39 198C39 90 114 -12 243 -12C303 -12 371 31 415 90L396 114Z" id="g58-97"></path></g><g transform="matrix(.0091,0,0,-0.0091,48.316,3.132)"><path d="M396 114C349 71 317 59 274 59C216 59 123 104 123 241C123 342 180 400 246 400C283 400 317 386 348 359C355 352 361 348 366 348C378 348 401 371 402 394C402 405 398 413 385 424C369 437 337 451 294 451H293C254 451 193 434 141 394C73 342 39 277 39 198C39 90 114 -12 243 -12C303 -12 371 31 415 90L396 114Z" id="g58-97"></path></g><g transform="matrix(.0091,0,0,-0.0091,52.32,3.132)"><path d="M173 382V461C125 442 68 425 25 418V390C88 382 92 382 92 317V-127C92 -191 84 -199 18 -204V-235H259V-204C180 -196 173 -192 173 -120V7C188 -1 212 -11 243 -12C375 12 495 109 495 261C495 361 427 451 316 451C303 451 283 446 266 435L173 382ZM173 345C200 365 243 388 274 388C346 388 409 329 409 222C409 111 353 40 266 40C231 40 196 56 173 79V345Z" id="g58-110"></path></g></svg>”</td><td class="align_center">Maximum conflict probability</td><td class="align_center">Average conflict probability</td><td class="align_center">Number of conflicts</td><td class="align_center">Average travel time</td></tr><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr><td class="align_left">Sensor detection</td><td class="align_center">23</td><td class="align_center">0.43</td><td class="align_center">0.24</td><td class="align_center">13</td><td class="align_center">46.58</td></tr><tr><td class="align_left">Conflict probability</td><td class="align_center">0</td><td class="align_center">0.23</td><td class="align_center">0.13</td><td class="align_center">2</td><td class="align_center">38.17</td></tr><tr class="table-tr"><td colspan="6"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Comparisons of adjustment effectiveness.</div>

Mathematical Problems in Engineering

tab9

Table 9

Table 9: Impact Analysis of Travel Time Uncertainty on AGV Catch-Up Conflict and the Associated Dynamic Adjustment 