This paper proposes a decentralized control strategy to assign tasks to Autonomous Guided Vehicles (AGV) and coordinate their paths to avoid deadlock and collisions. We consider a zone-controlled guidepath network where a set of intelligent vehicles (agents) has to autonomously reach a consensus about the distribution of a set of tasks, i.e., a set of zones to be reached. To this aim the agents apply a discrete consensus algorithm in order to locally minimize the global cost for reaching the destination zone. Moreover, we present a decentralized coordination protocol that is based on a zone-controlled approach with the aim of avoiding deadlock and collisions. © 2015 American Automatic Control Council.



Titolo: Decentralized deadlock-free control for AGV systems
Autori: 
FANTI, MARIA PIA
MANGINI, AGOSTINO MARCELLO
PEDRONCELLI, GIOVANNI
UKOVICH, WALTER
Data di pubblicazione: 2015
Serie: 
PROCEEDINGS OF THE AMERICAN CONTROL CONFERENCE  
Abstract: This paper proposes a decentralized control strategy to assign tasks to Autonomous Guided Vehicles (AGV) and coordinate their paths to avoid deadlock and collisions. We consider a zone-controlled guidepath network where a set of intelligent vehicles (agents) has to autonomously reach a consensus about the distribution of a set of tasks, i.e., a set of zones to be reached. To this aim the agents apply a discrete consensus algorithm in order to locally minimize the global cost for reaching the destination zone. Moreover, we present a decentralized coordination protocol that is based on a zone-controlled approach with the aim of avoiding deadlock and collisions. © 2015 American Automatic Control Council.
Handle: http://hdl.handle.net/11368/2869744
ISBN: 9781479986842
URL: http://ieeexplore.ieee.org/servlet/opac?punumber=1000030
Appare nelle tipologie:4.1 Contributo in Atti Convegno (Proceeding)

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