Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A New Dynamic Routing Algorithm for Multiple AGV Systems : Nonstop Preferential Detour Algorithm

다중무인운반차 시스템의 새로운 동적경로계획 알고리즘 : 비정지우선 우회 알고리즘

  • 신성영 (울산대학교 전기전자정보시스템공학과) ;
  • 조광현 (울산대학교 전기전자정보시스템공학과)
  • Published : 2002.09.01
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Abstract

We present a new dynamic routing scheme for multiple autonomous guided vehicles (AGVs) systems. There have been so many results concerned with scheduling and routing of multiple AGV systems; however, most of them are only applicable to systems with a small number of AGVs under a low degree of concurrency. With an increased number of AGVs in recent applications, these AGV systems are faced with another problem that has never been occurred in a system with a small number AGVs. This is the stop propagation problem. That is, if a leading AGV stops then all the following AGVs must stop to avoid any collision. In order to resolve this problem, we propose a nonstop preferential detour (NPD) algorithm which is a new dynamic routing scheme employing an election algorithm. For real time computation, we introduce two stage control scheme and propose a new path searching scheme, k-via shortest path scheme for an efficient dynamic routing algorithm. Finally, the proposed new dynamic routing scheme is illustrated by an example.

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References

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