This paper deals with decentralized coordination of Automated Guided Vehicles (AGVs). We propose a hierarchical traffic control algorithm, that implements path planning on a two layer architecture. The high-level layer describes the topological relationships among different areas of the environment. In the low-level layer, each area includes a set of fixed routes, along which the AGVs have to move. An algorithm is also introduced for the automatic definition of the route map itself. The coordination among the AGVs is obtained exploiting shared resources (i.e. centralized information) and local negotiation (i.e. decentralized coordination). The proposed strategy is validated by means of simulations using real plant
Hierarchical traffic control for partially decentralized coordination of multi AGV systems in industrial environments / Digani, Valerio; Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare. - ELETTRONICO. - (2014), pp. 6144-6149. (Intervento presentato al convegno 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 tenutosi a Hong Kong nel 31 Maggio - 7 Giugno 2014) [10.1109/ICRA.2014.6907764].