A decentralized control strategy for the coordination of AGV systems. (January 2018)

• Record Type: Journal Article
• Authors: Fanti, Maria Pia; Mangini, Agostino M.; Pedroncelli, Giovanni; Ukovich, Walter
• Is Part Of: Control engineering practice. Volume 70(2018)
• Page Start: 86
• Page End: 97
• Publication Date: 2018-01
• Subjects: Autonomous guided vehicles -- Consensus algorithms -- Decentralized control -- Deadlock avoidance -- Integer linear programming; Automatic control -- Periodicals; 629.89
• DOI: 10.1016/j.conengprac.2017.10.001
• Languages: English
• ISSNs: 0967-0661

Abstract

Abstract: This paper deals with the complex problem of controlling and coordinating Autonomous Guided Vehicles (AGV) by a decentralized approach. Each AGV selects its route by a consensus algorithm based on some Integer Linear Programming problem solutions. Moreover, the AGVs move inside a zone-controlled guidepath network and coordinate their movements by a decentralized protocol based on a zone-controlled approach, which guarantees the avoidance of deadlocks and collisions. The proposed decentralized strategy is applied to a guidepath network by means of a simulation software.