Types of collision situations:#

Head-on: This Head-on of collision occurs when the front ends of two vehicles collide with each other while traveling in opposite directions.
Stay-on: When a vehicle approaches the vehicle in front at a speed greater than that of the leading vehicle, it is referred to as a stay-on collision.
Cross: When a vehicle approaches another vehicle at an angle, it is referred to as a cross collision.

How meili system find intersections?#

The intersection of two vehicles is determined based on their dimensions, locations, and safety distances.

Each vehicle’s position is first determined, and prediction algorithms are applied to compensate for network delays. Based on the predicted and original positions, a safety box is generated that reflects the vehicle’s dimensions, expanded further by an added safety margin. Traffic control algorithms then use this enhanced safety box to detect and manage intersections, ensuring they consider both the vehicle’s actual size and the extended safety distance. This method supports safe and efficient navigation.

Traffic control parameters#

Safety distance threshold(m) : Determines the safety distance between obstacles and vehicles.

Note: How to change the Safety distance threshold and collision detection parameters is explained at Site settings parameters/Traffic control

Priorities of Robots for Different Collision Types and Their Actions#

Cross, Head-on#

Priority: The priority of the robot is determined by the priority of its mission.
- If a mission priority is specified during the creation of the mission, the robot’s priority is set accordingly; otherwise, priority is given to the first assigned task.
Action: The robot with the least priority will be stopped.

Stay-on#

Priority: The robot in front will be given priority (the priority of the robot based on task is ignored).
Action: The robot behind will be stopped, allowing the front vehicle to pass.

AGV#

Priority: AGV will be given priority.
Action: The AMR with a mission will be stopped.