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A distributed routing method for multiple AGVs for motion delay disturbances

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4 Author(s)
Morinaka, S. ; Dept. of Electr. & Electron. Eng., Okayama Univ., Japan ; Nishi, T. ; Konishi, M. ; Imai, J.

In this paper, we propose a distributed routing method for multiple mobile robots under uncertain motion delays. The feature of the proposed method is that each AGV subsystem creates the routing to minimize the sum of the transportation time and the penalty for collision avoidance constraints taking into account motion delay disturbances for other AGVs. The computational results show that the total transportation time obtained by the proposed method is shorter than that of the conventional method under various type of motion delay disturbances.

Published in:

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Date of Conference:

2-6 Aug. 2005