This paper describes an innovative approach to manage multiple Automated Guided Vehicles (AGVs) in an industrial environment. The proposed approach is based on a two layer architecture for path planning. This architecture consists of a topological layer, composed by macro-cells, and of a route map layer in which the AGVs have to move along fixed paths. The traffic is managed in a decentralized manner. Each AGV computes autonomously its own path both at topological layer and at route map layer. The coordination among the AGVs is based on the negotiation of shared resources. An early phase of validation is provided by the simulation in a structured environment.

Towards decentralized coordination of multi robot systems in industrial environments: A hierarchical traffic control strategy / Digani, Valerio; Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare. - ELETTRONICO. - (2013), pp. 209-215. ((Intervento presentato al convegno 2013 IEEE International Conference on Intelligent Computer Communication and Processing (ICCP) tenutosi a Cluj-Napoca, Romania nel 5-7/09/2013 [10.1109/ICCP.2013.6646110].

Towards decentralized coordination of multi robot systems in industrial environments: A hierarchical traffic control strategy

DIGANI, VALERIO;SABATTINI, Lorenzo;SECCHI, Cristian;FANTUZZI, Cesare
2013-01-01

Abstract

This paper describes an innovative approach to manage multiple Automated Guided Vehicles (AGVs) in an industrial environment. The proposed approach is based on a two layer architecture for path planning. This architecture consists of a topological layer, composed by macro-cells, and of a route map layer in which the AGVs have to move along fixed paths. The traffic is managed in a decentralized manner. Each AGV computes autonomously its own path both at topological layer and at route map layer. The coordination among the AGVs is based on the negotiation of shared resources. An early phase of validation is provided by the simulation in a structured environment.
2013 IEEE International Conference on Intelligent Computer Communication and Processing (ICCP)
Cluj-Napoca, Romania
5-7/09/2013
209
215
Digani, Valerio; Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare
Towards decentralized coordination of multi robot systems in industrial environments: A hierarchical traffic control strategy / Digani, Valerio; Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare. - ELETTRONICO. - (2013), pp. 209-215. ((Intervento presentato al convegno 2013 IEEE International Conference on Intelligent Computer Communication and Processing (ICCP) tenutosi a Cluj-Napoca, Romania nel 5-7/09/2013 [10.1109/ICCP.2013.6646110].
File in questo prodotto:
Non ci sono file associati a questo prodotto.
Pubblicazioni consigliate

Licenza Creative Commons
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/1012940
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 26
  • ???jsp.display-item.citation.isi??? ND
social impact