Navigation Scheme with Priority-Based Scheduling of Mobile Agents: Application to AGV-Based Flexible Manufacturing System
Résumé
This paper proposes a new navigation approach for mobile agents in AGV (Autonomous Guided Vehicles)-based flexible manufacturing system. The navigation scheme combines a scheduled motion planner and a priority-based negotiation. The scheduled motion planner ensures the product transportation while choosing the appropriate resource among several. The priority policy is designed using a negotiation process to solve conflicts when agents navigate close to each other or towards the same resource. Some simulations are provided in order to show the pertinence of the proposed scheme as well as its feasibility when the number of mobile agents increases. They highlight the cooperation scheme, the appropriate selection of the resource during the navigation as well as the flexibility of the proposed approach.