Decentralized Motion Planning and Scheduling of AGVs in an FMS

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 pr...

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Bibliographic Details
Published in:IEEE transactions on industrial informatics 2018-04, Vol.14 (4), p.1744-1752
Main Authors: Demesure, Guillaume, Defoort, Michael, Bekrar, Abdelghani, Trentesaux, Damien, Djemai, Mohamed
Format: Article
Language:English
Subjects:
Automated guided vehicles
Automated guided vehicles (AGVs)
Automatic
Collision avoidance
Collision dynamics
Engineering Sciences
Flexible manufacturing systems
flexible manufacturing systems (FMSs)
Frequency modulation
Job shop scheduling
Motion planning
Navigation
Planning
Routing
Scheduling
Trajectory
Trajectory planning
Transportation
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Summary: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.
ISSN:1551-3203
1941-0050
DOI:10.1109/TII.2017.2749520