A distributed collision-free routing system for multiple AGVs under disturbances

Shouichiro Morinaka, Tatsushi Nishi, Masami Konishi, Jun Imai

Research output: Contribution to conferencePaper


In this study, we tackle the problem of routing multiple Automated Guided Vehicles (AGVs) with disturbances. In real life transportation environments, unexpected delays and demands may cause re-routings. A centralized controller may not work under these circumstances due to computational complexity and high number of combinations of routes. Thus, we propose a distributed routing method that can solve re-routing problem under several disturbances. Numerical results indicate that the effects of disturbances are reduced by increasing the total time of transportation and the proposed algorithm shows an advantage over a conventional method in most performance indices.

Original languageEnglish
Number of pages6
Publication statusPublished - Dec 1 2005
EventSICE Annual Conference 2005 - Okayama, Japan
Duration: Aug 8 2005Aug 10 2005


OtherSICE Annual Conference 2005


  • Automated guided vehicle
  • Distributed routing system
  • Motion delay disturbance
  • Rerouting

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Morinaka, S., Nishi, T., Konishi, M., & Imai, J. (2005). A distributed collision-free routing system for multiple AGVs under disturbances. 2812-2817. Paper presented at SICE Annual Conference 2005, Okayama, Japan.