제어로봇시스템학회:학술대회논문집
- 1993.10a
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- Pages.82-87
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- 1993
Supervisory controller design technique for multiple-AGV systems
다수 무인운반차 시스템을 위한 관리제어기 설계 기법
- Lee, J. H. (Dept. of Control & Instrumentation Eng. Seoul National University) ;
- Choi, M. H. (Dept. of Control & Instrumentation Eng., Kangwon National University) ;
- Lee, B.H. (Dept. of Control & Instrumentation Eng. Seoul National University) ;
- Kim, J. D. (Samsung Aerospace) ;
- Park, H. (Samsung Aerospace)
- Published : 1993.10.01
Abstract
A supervisory controller design technique for multiple-AGV systems is presented in this paper. The guidepath is represented in the form of a network, and its modifications are easily tested. The network has two-layered structure, where the path sets between each two nodes are made in advance using the K-shortest path algorithm. Occupation times for all links are stored in link-occupation table, and are updated after the dispatching time. Dispatching and scheduling for each AGV are optimized in terms of minimum-time objectives. In all times, the paths are guaranteed to be conflict-free and deadlock-free. The simplicity and flexibility on this control scheme make the supervisory suitable for real applications.
Keywords