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EnglishThis 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: | |
| Data di pubblicazione: | 2015 |
| Serie: | |
| 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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http://hdl.handle.net/11368/2869744
