Collision Avoidance Strategy for Multivehicle Conflict on Common Rail

Table 2

local multivehicle operation parameters at t time.

No.	Task phase	Operation path	Current status	Current priority
MC1	Transferring coil	Entry, storing location	Load storing
MC2	Loading	Taking location, exit	Loading
MC3	Taking coil	Current location, storing location	No-load running
MC4	Transferring coil	Taking location, exit	Load taking
MC5	Taking coil	Taking location, exit	No-load running
MC6	Taking coil	Taking location, exit	Load taking
MC7	Loading	Taking location, exit	Loading
MC8	Unloading	Storing location, entry	Unloading