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Navigation of decentralized autonomous automatic guided vehicles in material handling

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3 Author(s)
Berman, S. ; Dept. of Ind. Eng. & Manage., Ben-Gurion Univ. of the Negev, Beer-Sheva, Israel ; Edan, Y. ; Jamshidi, M.

This paper presents a navigation methodology for decentralized autonomous automated guided vehicles used for material handling. The navigation methodology is based on behavior-based control augmented with multirobot coordination behaviors and a priori waypoint determination. Results indicate that the developed methodology fuses well between the desires for optimal vehicle routes on the one hand and decentralized reactive operation on the other.

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Robotics and Automation, IEEE Transactions on  (Volume:19 ,  Issue: 4 )