The transporters with path-guided type of navigation conduct their movement along paths and nodes connected to create a network. The source and destination points can be located in different networks: transporters can move between these networks through network ports or lifts.
Unlike resources defined with ResourcePool block, transporters in this mode avoid collisions and give way at crossroads. In case of collision, they have to wait for a period of time before resuming their movement. These options can be customized in TransporterControl block.
The navigation type, home locations and additional rules of movement for a fleet of transporters are defined in the properties of the TransporterFleet block.
By default transporters select the shortest possible route to the destination, but custom routing can be defined in TransporterControl block. You can specify the conditions that must be met so that the transporter can enter nodes and paths in the network. You can select nodes and paths which the transporter will avoid while still moving along the shortest possible route. These settings will be applied to all transporter fleets with path-guided type navigation. To specify individual routing rules for a single transporter fleet, you have to select the Custom routing option in the properties of the corresponding TransporterFleet block. These settings will have priority over the settings specified in TransporterControl block.
If an obstacle appears when the transporter is already on its way,
you can call the recalculateRoute()
function and it will recalculate the transporter's route to avoid
collision. Recalculation will still allow for the custom routing
algorithm if you have
specified one before.
You can obtain the information about the transporter's route from
its current location to the destination by calling the transporter's getRouteData() function.
Demo model: Rack System with AGV
Free space navigation