Multi-mobile vehicle control system and method

A multi-mobile vehicle control method comprising:

• determining whether a first mobile vehicle and a second mobile vehicle occur a conflict on a first path unit based on a first entry time of the first mobile vehicle into the first path unit, a first exit time of the first mobile vehicle from the first path unit, a second entry time of the second mobile vehicle into the first path unit or a second path unit, and a second exit time of the second mobile vehicle from the first path unit or the second path unit;
• when the conflict occurs between the first mobile vehicle and the second mobile vehicle on the first path unit, adjusting the first entry time of the first mobile vehicle until the conflict is resolved;
• and
• moving the first mobile vehicle.

A multi-mobile vehicle control system comprising:

• a path server;
• a control unit communicating with the path server;
• and
• a plurality of mobile vehicles communicating with the path server and the control unit,
• wherein the path server stores multiple entry-exit timing of each of the mobile vehicles on each path unit;
• and
• the control unit or the path server or the mobile vehicles are configured for:
• determining whether a first mobile vehicle and a second mobile vehicle experience a forward conflict, a head-on conflict, or a cross conflict on a path unit;
• when the first mobile vehicle and the second mobile vehicle experience the forward conflict on the path unit, waiting for the second mobile vehicle to leave the path unit and controlling the first mobile vehicle to move on the path unit;
• when the first mobile vehicle and the second mobile vehicle experience the head-on conflict on the path unit, selecting an alternative edge for the first mobile vehicle;
• and
• when the first mobile vehicle and the second mobile vehicle experience a cross conflict on the path unit, waiting for the second mobile vehicle to leave the path unit and controlling the first mobile vehicle to move on the path unit.

A method for controlling multi-mobile vehicles, comprising:

• obtaining a plurality of adjacent nodes of a current node of a first mobile vehicle and obtaining a plurality of timing data of a second mobile vehicle at the current node and the adjacent nodes;
• determining whether a path unit set of the first mobile vehicle from the current node to one of the adjacent nodes occur a conflict with the second mobile vehicle;
• when determining that timing conflicts or path unit occupancy conflicts occur, determining whether there is a head-on conflict;
• when determining that neither timing conflicts nor no path unit occupancy conflicts occur, calculating a plurality of target functions of the path unit set of the first mobile vehicle from the current node to the adjacent node;
• in case of a head-on conflict, an adjust time of the first mobile vehicle is that a transportation cost of the first mobile vehicle moving on a path unit is higher than a transportation cost of the first mobile vehicle moving on an adjacent path unit;
• when there is no head-on conflict, calculating the adjustment time of the first mobile vehicle to adjust a target function of a conflicting edge;
• and
• controlling movement of the first mobile vehicle.