Naslov
Decentralized Control of Free Ranging AGVs in Warehouse Environments

Autori
Krnjak, Antonio ; Draganjac, Ivica ; Bogdan, Stjepan ; Petrović, Tamara ; Miklić, Damjan ; Kovačić, Zdenko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA) / - Seattle (WA) : Institute of Electrical and Electronics Engineers (IEEE), 2015, 2034-2041

ISBN
978-1-4799-6922-7

Skup
2015 IEEE International Conference on Robotics and Automation (ICRA)

Mjesto i datum
Seattle (WA), Sjedinjene Američke Države, 26.05.2015. - 30.05.2015

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
decentralized control; automated guided vehicles; warehouse

Sažetak
In this paper we propose an algorithm for decentralized control of Automated Guided Vehicles (AGVs) operating in automated warehouse environments. The motion planning part of the algorithm provides vehicles with capabilities for autonomous motion planning considering nonholonomic vehicle constraints and collision-free path execution. The decision making part of the algorithm ensures safe vehicle motions and reliable conflict situation resolution. The proposed control algorithm also prevents occurrence of deadlock and livelock situations. Stability of the algorithm has been proven by its analysis based on automata theory, while its performance has been validated by simulation on a system comprising twenty vehicles as well as experimentally on a laboratory setup comprising five Pioneer 3DX vehicles.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA