Hierarchical Coordination Strategy for Multi-AGV Systems Based on Dynamic Geodesic Environment Partitioning

被引:0
|
作者
Sabattini, Lorenzo [1 ]
Digani, Valerio [2 ]
Secchi, Cristian [1 ]
Fantuzzi, Cesare [1 ]
机构
[1] Univ Modena & Reggio Emilia, Dept Sci & Methods Engn DISMI, Reggio Emilia, Italy
[2] Elettr 80 Spa, Viano, Italy
关键词
VORONOI DIAGRAM; VEHICLES;
D O I
暂无
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
In this paper we consider the problem of coordinating the motion of a group of Automated Guided Vehicles (AGVs) utilized in industrial environments for logistics operations. In particular, we consider a hierarchical coordination strategy, where the environment is partitioned into sectors: coordination on the top layer defines the sequence of sectors to be traveled, while coordination on the bottom layer deals with traffic management inside each sector. In this paper we introduce a novel partitioning algorithm, that defines the sectors in a dynamic manner, taking into account both the shape of the (generally non-convex) environment, and the current distribution of the AGVs. This is achieved exploiting a clustering algorithm, and subsequently defining the sectors based on the geodesic distance.
引用
收藏
页码:4418 / 4423
页数:6
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