Hierarchical coordination strategy for multi-AGV systems based on dynamic geodesic environment partitioning
| Autor: | Lorenzo Sabattini, Cristian Secchi, Valerio Digani, Cesare Fantuzzi |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Mathematical optimization Engineering Sequence Robot kinematics Geodesic business.industry Regular polygon 020302 automobile design & engineering 02 engineering and technology Vehicle dynamics 020901 industrial engineering & automation Software 0203 mechanical engineering Control and Systems Engineering 1707 Computer Science Applications1707 Computer Vision and Pattern Recognition Layer (object-oriented design) Cluster analysis business |
| Zdroj: | IROS |
| DOI: | 10.1109/iros.2016.7759650 |
| Popis: | In this paper we consider the problem of coordinating the motion of a group of Automated Guided Vehicles (AGVs) utilized in industrial environments for logistics operations. In particular, we consider a hierarchical coordination strategy, where the environment is partitioned into sectors: coordination on the top layer defines the sequence of sectors to be traveled, while coordination on the bottom layer deals with traffic management inside each sector. In this paper we introduce a novel partitioning algorithm, that defines the sectors in a dynamic manner, taking into account both the shape of the (generally non-convex) environment, and the current distribution of the AGVs. This is achieved exploiting a clustering algorithm, and subsequently defining the sectors based on the geodesic distance. |
| Databáze: | OpenAIRE |
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