제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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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)
  • 이정훈 (서울대학교 제어계측공학과) ;
  • 최명환 (강원대학교 제어계측공학과) ;
  • 이범희 (서울대학교 제어계측공학과) ;
  • 김정덕 (㈜삼성항공) ;
  • 박현 (㈜삼성항공)
  • Published : 1993.10.01
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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