Decentralized Motion Planning and Scheduling of AGVs in an FMS

作者：Demesure Guillaume^*; Defoort Michael; Bekrar Abdelghani; Trentesaux Damien; Djemai Mohamed

来源：IEEE Transactions on Industrial Informatics, 2018, 14(4): 1744-1752.

DOI：10.1109/TII.2017.2749520

• Automated guided vehicles (AGVs)
• flexible manufacturing systems (FMSs)
• motion planning
• scheduling

In this paper, decentralized motion planning and scheduling of automated guided vehicles (AGVs) in a flexible manufacturing system is proposed. A motion planner is combined with a scheduler allowing each AGV to update its destination resource during navigation in order to complete the transported product. The proposed strategy is based on two steps. The first step consists in planning a presumed trajectory to avoid collision conflicts previously detected by a central supervisor, enabling more appropriate decentralized scheduling by AGVs. The presumed trajectories, which represent the intentions of AGVs, are then exchanged with neighboring AGVs. The second step uses the presumed trajectories of neighbors to compute a collision-free trajectory according to the priority policy. Numerical and experimental results are provided to show the pertinence and the feasibility of the proposed strategy.

• 出版日期2018-4