This paper deals with the complex problem of controlling and coordinating Autonomous Guided Vehicles (AGV) by a decentralized approach. Each AGV selects its route by a consensus algorithm based on some Integer Linear Programming problem solutions. Moreover, the AGVs move inside a zone-controlled guidepath network and coordinate their movements by a decentralized protocol based on a zone-controlled approach, which guarantees the avoidance of deadlocks and collisions. The proposed decentralized strategy is applied to a guidepath network by means of a simulation software.
A decentralized control strategy for the coordination of AGV systems / Fanti, Maria Pia; Mangini, Agostino M.; Pedroncelli, Giovanni; Ukovich, Walter. - In: CONTROL ENGINEERING PRACTICE. - ISSN 0967-0661. - STAMPA. - 70:(2018), pp. 86-97. [10.1016/j.conengprac.2017.10.001]
A decentralized control strategy for the coordination of AGV systems
Fanti, Maria Pia
;Mangini, Agostino M.;Pedroncelli, Giovanni;
2018-01-01
Abstract
This paper deals with the complex problem of controlling and coordinating Autonomous Guided Vehicles (AGV) by a decentralized approach. Each AGV selects its route by a consensus algorithm based on some Integer Linear Programming problem solutions. Moreover, the AGVs move inside a zone-controlled guidepath network and coordinate their movements by a decentralized protocol based on a zone-controlled approach, which guarantees the avoidance of deadlocks and collisions. The proposed decentralized strategy is applied to a guidepath network by means of a simulation software.| File | Dimensione | Formato | |
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