A Cooperative Object-Transportation Control of Multiple AGV Systems using Decentralized Passive Velocity Field Control Algorithm

분산 수동속도장 제어법을 이용한 다중 AGV 시스템의 협조 이송제어

Automatic guided vehicle(AGV) in the factory has an important role to advance the flexible manufacturing system. In this paper, we propose a novel object-transportation control algorithm of cooperative AGV systems to apply decentralized control scheme based on virtual-passivity. It is shown that the cooperative AGV systems ensure stability and the convergence to scaled multiple of each desired velocity field for multiple AGV systems. Finally, the application of proposed virtual passivity-based decentralized control algorithm via system augmentation is applied to be the tracking a circle. Also. the simulation results for the object-transportation by two AGV systems illustrate the validity of the proposed control scheme.