Título
A Coloured Petri Net- and D* Lite-Based Traffic Controller for Automated Guided VehiclesAutor-a
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IkerlanVersión
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Derechos
© 2021 The AuthorsAcceso
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https://doi.org/10.3390/electronics10182235Publicado en
Electronics Vol. 10. N. 18. N. artículo 2235, 2021Editor
MDPIPalabras clave
AGV
mobile robots
path planning
traffic control ... [+]
mobile robots
path planning
traffic control ... [+]
AGV
mobile robots
path planning
traffic control
artificial intelligence
coloured Petri net [-]
mobile robots
path planning
traffic control
artificial intelligence
coloured Petri net [-]
Resumen
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 goo ... [+]
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. [-]
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- Artículos - Ingeniería [639]
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