In this paper we propose an algorithm for coordinating a fleet of Automated Guided Vehicles (AGVs) that go through predefined paths in a dynamic industrial environment. Coordination diagrams are used to define a mapping between the configuration space of the fleet and a set of motion constraints that the vehicles must satisfy in order to avoid mutual collisions. The motion actions that maximize the advancement of the fleet while respecting the constraints are determined by a polynomial time heuristic algorithm.
An Efficient Control Strategy for the Traffic Coordination of AGVs / R., O., Secchi, C., Fantuzzi, C.. - ELETTRONICO. - (2011), pp. 4615-4620. (2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 San Francisco, CA, usa 25-30/09/2011) [10.1109/IROS.2011.6048083].
An Efficient Control Strategy for the Traffic Coordination of AGVs
SECCHI, Cristian;FANTUZZI, Cesare
2011
Abstract
In this paper we propose an algorithm for coordinating a fleet of Automated Guided Vehicles (AGVs) that go through predefined paths in a dynamic industrial environment. Coordination diagrams are used to define a mapping between the configuration space of the fleet and a set of motion constraints that the vehicles must satisfy in order to avoid mutual collisions. The motion actions that maximize the advancement of the fleet while respecting the constraints are determined by a polynomial time heuristic algorithm.
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