Paper Info
Title
Hierarchical and Flexible Traffic Management of Multi-AGV Systems Applied to Industrial Environments
Abstract
This paper deals with the traffic management of multiple Automated Guided Vehicles (AGVs) in an automatic factory or warehouse. We propose innovative methods, evolved from the studies previously conducted in In to coordinate a fleet of AGVs in an industrial environment, and we describe the methodologies developed to build a complete traffic manager software. The software is based on a multi-layer control architecture: a higher-level layer useful to model the traffic of vehicles among the different areas of the warehouse, a middle layer which acts as a bridge between the traffic model and the path planner, and a lower-level layer which represents the roadmap itself and, hence, defines the optimal path to be followed by each vehicle. Finally, the AGVs movement coordination is managed separately through a centralized control in order to avoid conflicts and deadlocks. The aim is to make theoretical methods applicable to a real environment facing the usual problems related to the industrial applications, which have been overlooked in In Indeed, the roadmap is usually constrained by the plant layout, especially in medium size factories, and paths can not be arbitrarily defined. Hence, the aim is to realize a reliable and robust software able to manage real scenarios, allowing the traffic management of multiple AGVs. The proposed method aims at flexibility by considering a coordination strategy not based on assumptions and ad-hoc rules.
Year
DOI
Venue
2021
10.1109/ICRA48506.2021.9560828
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021)
DocType
Volume
Issue
Conference
2021
1
ISSN
Citations 
PageRank 
1050-4729
0
0.34
References 
Authors
3
4
Name
Order
Citations
PageRank
Federico Pratissoli100.34
Nicola Battilani200.34
C. Fantuzzi325327.08
Lorenzo Sabattini439336.65