Hybrid control in automated guided vehicle systems

This paper proposes a hierarchical hybrid structure of an automated guided vehicle system (AGVS) that controls the operation of automated guided vehicle (AGV) in manufacturing environment. The main objective of automation is to have collision free movement of the vehicles, along with increased flexibility. The proposed system is decentralized in which the AGV move in free mode instead of following a fixed guidepath. The vehicles select their own routes and speeds and resolve the conflicts that arise during their motion. We discuss here the possible conflict situations and the possible strategies to resolve these situations.