Autonomous decentralized route planning method and its application to a dynamic route planning

Masakazu Ando, Tatsushi Nishi, Masami Konishi, Jun Imai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

For most of the transportation system in semiconductor fabricating bay, the requests for transportation are given in every few seconds. It is necessary to determine the allocation of the transportation requests to AGVs and the route planning of AGVs without collision and deadlock in a dynamic environment. In this paper, we propose an autonomous decentralized route planning method for dynamic route planning. In the proposed system, each AGV individually derives the route for itself by repeating the generation of the route for each AGV and the wireless communication with other AGVs. Each AGV has a function of optimizing the route for itself. However, it is desirable that a rescheduling is executed locally as much as possible. From that viewpoint, we propose a rescheduling algorithm for dynamic environment. From the numerical experiments, it has been demonstrated that the proposed method can reduce 80 percent of the computation time compared with the conventional autonomous decentralized method without lowering the performance level. Moreover, the proposed method has been implemented on a parallel experimental system and it has been demonstrated that each robot can successively travel without deadlock and collision among AGVs.

Original languageEnglish
Title of host publicationProceedings - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Subtitle of host publicationComputational Intelligence in Robotics and Automation for the New Millennium
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages718-723
Number of pages6
ISBN (Electronic)0780378660
DOIs
Publication statusPublished - Jan 1 2003
Event2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003 - Kobe, Japan
Duration: Jul 16 2003Jul 20 2003

Publication series

NameProceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
Volume2

Other

Other2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003
CountryJapan
CityKobe
Period7/16/037/20/03

ASJC Scopus subject areas

  • Computational Mathematics

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    Ando, M., Nishi, T., Konishi, M., & Imai, J. (2003). Autonomous decentralized route planning method and its application to a dynamic route planning. In Proceedings - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Computational Intelligence in Robotics and Automation for the New Millennium (pp. 718-723). [1222269] (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA; Vol. 2). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CIRA.2003.1222269