Systems and methods for controlling automated guided vehicles

A system, comprising:

• at least one storage device storing executable instructions for controlling an automated guided vehicle (AGV);
• and
• at least one processor in communication with the at least one storage device, wherein when executing the executable instructions, the at least one processor is configured to cause the system to perform operations including:
• determining an environment graph of the AGV by preprocessing an AGV scene map, the AGV scene map including multiple nodes and multiple edges connected to the multiple nodes, wherein an attribute of each node in the environment graph includes a first constraint on passability of the node and a second constraint on an angle at which the AGV or a load of the AGV is allowed to pass, and an attribute of each edge in the environment graph includes a third constraint on connectivity of the edge, a fourth constraint on passability of the edge, and a fifth constraint on an angle at which the AGV or the load of the AGV is allowed to pass;
• and
• in response to the environment graph of the AGV not satisfying a first preset condition, performing at least one environmental adjustment, wherein each environmental adjustment includes:
• determining an adjustment of the environment graph by performing a path planning for the AGV, wherein a portion of constraints of the environment graph is ignored in the path planning,
• performing a troubleshooting operation by controlling a transport system based on the adjustment of the environment graph, and
• updating the environment graph based on a result of the troubleshooting operation;
• and
• in response to the environment graph satisfying the first preset condition,
• determining a driving path of the AGV based on the environment graph, and
• controlling the AGV to drive along the driving path.

A non-transitory computer readable medium, comprising at least one set of instructions for controlling an automated guided vehicle (AGV), wherein when executed by at least one processor of a computing device, the at least one set of instructions direct the at least one processor to perform operations including:

• determining an environment graph of the AGV by preprocessing an AGV scene map, the AGV scene map including multiple nodes and multiple edges connected to the multiple nodes, wherein an attribute of each node in the environment graph includes a first constraint on passability of the node and a second constraint on an angle at which the AGV or a load of the AGV is allowed to pass, and an attribute of each edge in the environment graph includes a third constraint on connectivity of the edge, a fourth constraint on passability of the edge, and a fifth constraint on an angle at which the AGV or the load of the AGV is allowed to pass;
• and
• in response to the environment graph of the AGV not satisfying a first preset condition, performing at least one environmental adjustment, wherein each environmental adjustment includes:
• determining an adjustment of the environment graph by performing a path planning for the AGV, wherein a portion of constraints of the environment graph is ignored in the path planning,
• performing a troubleshooting operation by controlling a transport system based on the adjustment of the environment graph, and
• updating the environment graph based on a result of the troubleshooting operation;
• and
• in response to the environment graph satisfying the first preset condition,
• determining a driving path of the AGV based on the environment graph, and
• controlling the AGV to drive along the driving path.