Title :
Navigation of decentralized autonomous automatic guided vehicles in material handling
Author :
Berman, Sigal ; Edan, Yael ; Jamshidi, Mo
Author_Institution :
Dept. of Ind. Eng. & Manage., Ben-Gurion Univ. of the Negev, Beer-Sheva, Israel
Abstract :
This paper presents a navigation methodology for decentralized autonomous automated guided vehicles used for material handling. The navigation methodology is based on behavior-based control augmented with multirobot coordination behaviors and a priori waypoint determination. Results indicate that the developed methodology fuses well between the desires for optimal vehicle routes on the one hand and decentralized reactive operation on the other.
Keywords :
automatic guided vehicles; materials handling; mobile robots; navigation; behavior-based control; decentralized autonomous automatic guided vehicles; decentralized reactive operation; material handling; mobile robot; multirobot cooperation; multirobot coordination behaviors; navigation; optimal vehicle routes; Automatic control; Centralized control; Control systems; Flexible manufacturing systems; Fuses; Manufacturing automation; Materials handling; Mobile robots; Navigation; Remotely operated vehicles;
Journal_Title :
Robotics and Automation, IEEE Transactions on
DOI :
10.1109/TRA.2003.814513
