A distributed routing method for multiple AGVs for motion delay disturbances

Author

Morinaka, Shouichiro ; Nishi, Tatsushi ; Konishi, Masami ; Imai, Jun

Author_Institution

Dept. of Electr. & Electron. Eng., Okayama Univ., Japan

fYear

2005

fDate

2-6 Aug. 2005

Firstpage

1986

Lastpage

1991

Abstract

In this paper, we propose a distributed routing method for multiple mobile robots under uncertain motion delays. The feature of the proposed method is that each AGV subsystem creates the routing to minimize the sum of the transportation time and the penalty for collision avoidance constraints taking into account motion delay disturbances for other AGVs. The computational results show that the total transportation time obtained by the proposed method is shorter than that of the conventional method under various type of motion delay disturbances.

Keywords

automatic guided vehicles; collision avoidance; delay systems; mobile robots; motion control; multi-robot systems; AGV subsystem; automated guided vehicle; collision avoidance; distributed routing; motion delay disturbance; multiple mobile robots; Collision avoidance; Delay effects; Fabrication; Mobile robots; Optimization methods; Processor scheduling; Robustness; Routing; Transportation; Vehicles; Automated Guided Vehicles; Distributed routing; Motion delay disturbances; Rescheduling;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8912-3

Type

conf

DOI

10.1109/IROS.2005.1545271

Filename

1545271