Experimental studies on a local rescheduling procedure for dynamic routing of autonomous decentralized AGV systems

Tatsushi Nishi; Masakazu Ando; Masami Konishi

doi:10.1016/j.rcim.2005.02.010

Experimental studies on a local rescheduling procedure for dynamic routing of autonomous decentralized AGV systems

Tatsushi Nishi, Masakazu Ando, Masami Konishi

Research output: Contribution to journal › Article › peer-review

23 Citations (Scopus)

Abstract

This paper addresses a local rescheduling procedure for a distributed routing system of multiple Automated Guided Vehicles in dynamic environments where the requests for transportation are given in real time. The effectiveness of the proposed method is investigated for a transportation system of 143 nodes and 10-30 AGV systems in a semi-conductor fabricating bay. A distributed and parallel routing system (DPRS) is implemented and tested on an experimental five mobile robot system. The results demonstrate that the proposed method can reduce the total computation time by 39% compared with the conventional method without lowering the performance level. It is also experimentally verified that the rescheduling procedure can deal with disturbances in a significantly short computation time.

Original language	English
Pages (from-to)	154-165
Number of pages	12
Journal	Robotics and Computer-Integrated Manufacturing
Volume	22
Issue number	2
DOIs	https://doi.org/10.1016/j.rcim.2005.02.010
Publication status	Published - Apr 2006

Keywords

AGV system
Autonomous distributed system
Experimental studies
Local rescheduling
Parallel computation
Transportation

ASJC Scopus subject areas

Control and Systems Engineering
Software
Mathematics(all)
Computer Science Applications
Industrial and Manufacturing Engineering

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10.1016/j.rcim.2005.02.010

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