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http://dx.doi.org/10.5302/J.ICROS.2002.8.9.795

A New Dynamic Routing Algorithm for Multiple AGV Systems : Nonstop Preferential Detour Algorithm  

Sin, Seong-Yeong (울산대학교 전기전자정보시스템공학과)
Jo, Gwang-Hyeon (울산대학교 전기전자정보시스템공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.8, no.9, 2002 , pp. 795-802 More about this Journal
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.
Keywords
Automated Guided Vehicle (AGV); dynamic routing; k-via shortest path;
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