2026-05-13T16:51:44Zhttps://ebiltegia.mondragon.edu/oai/request

oai:ebiltegia.mondragon.edu:20.500.11984/58152024-01-04T21:57:21Zcom_20.500.11984_473col_20.500.11984_478

Mugarza Cortabarria, Juan Carlos 2022-11-09T11:10:06Z 2022-11-09T11:10:06Z 2021 2079-9292 https://katalogoa.mondragon.edu/janium-bin/janium_login_opac.pl?find&ficha_no=165016 https://hdl.handle.net/20.500.11984/5815 Mobile robots, such as Automated Guided Vehicles (AGVs), are increasingly employed in automated manufacturing systems or automated warehouses. They are used for many kinds of applications, such as goods and material handling. These robots may also share industrial areas and routes with humans. Other industrial equipment (i.e., forklifts) could also obstruct the outlined routes. With this in mind, in this article, a coloured Petri net-based traffic controller is proposed for collision-free AGV navigation, in which other elements moving throughout the industrial area, such as humans, are also taken into account for the trajectory planning and obstacle avoidance. For the optimal path and collision-free trajectory planning and traffic control, the D* Lite algorithm was used. Moreover, a case study and an experimental validation of the suggested solution in an industrial shop floor are presented. eng Attribution 4.0 International http://creativecommons.org/licenses/by/4.0/ © 2021 The Authors AGV mobile robots path planning traffic control artificial intelligence coloured Petri net A Coloured Petri Net- and D* Lite-Based Traffic Controller for Automated Guided Vehicles http://purl.org/coar/resource_type/c_6501