In this paper we address the problem of assigning a set of tasks to a set of Automated Guided Vehicles (AGVs), in a conflict-free manner. Specifically, we consider a system of multiple AGVs, moving along a predefined roadmap, and utilized for transportation of goods in automated warehouses. Sequential application of task assignment and path planning often gives rise to pathological situations, such as deadlocks, in which AGVs block each other, thus preventing tasks completion. In this paper we propose a method for assigning tasks while taking into account the subsequent path planning, encoding possible conflicts into a conflict graph, that is subsequently utilized for defining constraints of an optimization problem. Simulations are performed on maps of real industrial environments, to compare the proposed method with traditional task assignment.
Optimized simultaneous conflict-free task assignment and path planning for multi-AGV systems / Sabattini, Lorenzo; Digani, Valerio; Secchi, Cristian; Fantuzzi, Cesare. - 2017-(2017), pp. 1083-1088. ((Intervento presentato al convegno 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 tenutosi a can nel 2017.
Data di pubblicazione: | 2017 |
Titolo: | Optimized simultaneous conflict-free task assignment and path planning for multi-AGV systems |
Autore/i: | Sabattini, Lorenzo; Digani, Valerio; Secchi, Cristian; Fantuzzi, Cesare |
Autore/i UNIMORE: | |
Digital Object Identifier (DOI): | http://dx.doi.org/10.1109/IROS.2017.8202278 |
Codice identificativo Scopus: | 2-s2.0-85041946859 |
Codice identificativo ISI: | WOS:000426978201068 |
Nome del convegno: | 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 |
Luogo del convegno: | can |
Data del convegno: | 2017 |
Rivista: | PROCEEDINGS OF THE ... IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS |
Volume: | 2017- |
Pagina iniziale: | 1083 |
Pagina finale: | 1088 |
Citazione: | Optimized simultaneous conflict-free task assignment and path planning for multi-AGV systems / Sabattini, Lorenzo; Digani, Valerio; Secchi, Cristian; Fantuzzi, Cesare. - 2017-(2017), pp. 1083-1088. ((Intervento presentato al convegno 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 tenutosi a can nel 2017. |
Tipologia | Relazione in Atti di Convegno |
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