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首页> 外文期刊>IEEE transactions on automation science and engineering >Decentralized Control of Multi-AGV Systems in Autonomous Warehousing Applications
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Decentralized Control of Multi-AGV Systems in Autonomous Warehousing Applications

机译：自主仓储应用中的多AGV系统的分散控制

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摘要

In this paper, we present an algorithm for decentralized control of multiple automated guided vehicles performing transportation tasks within industrial and warehousing environments. By running on each vehicle in the system, the algorithm provides vehicles with capabilities for autonomous path planning and motion co-ordination. The path planning part of the algorithm implements a free-ranging motion scheme by determining the shortest feasible paths considering nonholonomic vehicle constraints. The motion co-ordination part of the algorithm ensures safe vehicle motions by reliable detection and resolution of different conflict situations with other vehicles in the shared workspace. Conflict resolution is based on a vehicle priority scheme and results in temporary stopping or removal of the lower priority vehicles taking part in the conflict. Removal action is always performed within the vehicle's private zone, i.e., the pre-allocated local region of the workspace surrounding the vehicle. By encoding information on the vehicle size and its kinematic constraints, the introduced private zone mechanism provides the necessary physical space required for successful execution of every removal action. We also analyze the stability of the presented algorithm and discuss its deadlock-free and livelock-free properties. Algorithm performance has been validated by simulation using ten vehicles and experimentally on two different setups-a laboratory setup comprising five Pioneer 3DX vehicles and by two state-of-the-art autonomous forklifts in industrial-like operating conditions.
机译：在本文中，我们提出了一种用于对在工业和仓储环境中执行运输任务的多辆自动引导车辆进行分散控制的算法。通过在系统中的每辆车辆上运行，该算法为车辆提供了自主路径规划和运动协调的功能。该算法的路径规划部分通过考虑非完整车辆约束确定最短的可行路径，来实现自由范围运动方案。该算法的运动协调部分通过可靠地检测和解决共享工作空间中与其他车辆的不同冲突情况，确保了安全的车辆运动。解决冲突是基于车辆优先级方案，并且会导致导致冲突的低优先级车辆暂时停止或驶离。总是在车辆的专用区域（即，车辆周围的工作空间的预先分配的局部区域）内执行拆卸动作。通过对有关车辆尺寸及其运动学约束的信息进行编码，引入的专用区域机制可提供成功执行每个清除动作所需的必要物理空间。我们还分析了所提出算法的稳定性，并讨论了其无死锁和无活锁的特性。算法性能已通过使用十辆车进行仿真并在两种不同的设置下进行了实验验证，其中包括五台Pioneer 3DX车辆的实验室设置以及两台最先进的自动叉车，在类似工业的运行条件下进行。

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    Ivica Draganjac; Damjan Miklić; Zdenko Kovačić; Goran Vasiljević; Stjepan Bogdan;

  • 作者单位

    Department of Control and Computer Engineering, Faculty of Electrical Engineering and Computing, Laboratory for Robotics and Intelligent Control Systems, University of Zagreb, Zagreb, Croatia;

    Department of Control and Computer Engineering, Faculty of Electrical Engineering and Computing, Laboratory for Robotics and Intelligent Control Systems, University of Zagreb, Zagreb, Croatia;

    Department of Control and Computer Engineering, Faculty of Electrical Engineering and Computing, Laboratory for Robotics and Intelligent Control Systems, University of Zagreb, Zagreb, Croatia;

    Department of Control and Computer Engineering, Faculty of Electrical Engineering and Computing, Laboratory for Robotics and Intelligent Control Systems, University of Zagreb, Zagreb, Croatia;

    Department of Control and Computer Engineering, Faculty of Electrical Engineering and Computing, Laboratory for Robotics and Intelligent Control Systems, University of Zagreb, Zagreb, Croatia;

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  • 正文语种 eng
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  • 关键词

    Flexible manufacturing systems; Path planning; Decentralized control; Algorithm design and analysis; Mobile robots; Multi-robot systems; Warehousing;

    机译：柔性制造系统;路径规划;分散控制;算法设计和分析;移动机器人;多机器人系统;仓储;

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