Supervisory control for closed agv systems with dynamic vehicle routing

Abstract The paper concerns closed AGV systems with bidirectional guidepath network, unidirectional vehicles, zone control for avoiding collisions, and dynamic route planning. An AGVS is represented as a DES (Discrete Event System) that models the feasible system dynamics. We study the problem of the system liveness and associate this property with the permanent ability of the vehicles to attain any edge in the network. In order to provide the required admissible behavior we define a supervisor, and, using the liveness conditions obtained in our earlier work, we develop algorithms for the supervisory control. An optimal (maximally permissive) policy for guarding the event occurrence is proposed for systems with biconnected network, and a suboptimal policy for the general case of the network structure.

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