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다중무인운반차 시스템의 새로운 동적경로계획 알고리즘 : 비정지우선 우회 알고리즘
A New Dynamic Routing Algorithm for Multiple AGV Systems : Nonstop Preferential Detour Algorithm

신성영   (울산대학교 전기전자정보시스템공학과UU0001014  ); 조광현   (울산대학교 전기전자정보시스템공학과UU0001014  );
  • 초록

    We present a new dynamic routing scheme for multiple autonomous guided vehicles (AGVs) systems. There have been so many results concerned with scheduling and routing of multiple AGV systems; however, most of them are only applicable to systems with a small number of AGVs under a low degree of concurrency. With an increased number of AGVs in recent applications, these AGV systems are faced with another problem that has never been occurred in a system with a small number AGVs. This is the stop propagation problem. That is, if a leading AGV stops then all the following AGVs must stop to avoid any collision. In order to resolve this problem, we propose a nonstop preferential detour (NPD) algorithm which is a new dynamic routing scheme employing an election algorithm. For real time computation, we introduce two stage control scheme and propose a new path searching scheme, k-via shortest path scheme for an efficient dynamic routing algorithm. Finally, the proposed new dynamic routing scheme is illustrated by an example.


  • 주제어

    Automated Guided Vehicle (AGV) .   dynamic routing .   k-via shortest path.  

  • 참고문헌 (11)

    1. C. W. Kim and J. M. A. Tanchoco, 'Conflict-free shortest-time bi-directional AGV rounting', Int. J. Prod. Res., Vol. 29, No. 12, pp. 2377-2391. 1991 
    2. J. H. Lee and B. H. Lee, 'A real-time traffic control scheme of multiple AGV systems for collision free minimum time motion: a rounting table approach', IEEE Trans. Syst., Man, Man, and Cybern. A, Vol. 28, No. 3, May. 1998 
    3. B. A. Peters, J. S. Smith, and S. Venkatesh, 'A control classification of automated guided vehicle systems', International Journal of Industrial Engineering, Vol. 3, No. 1, pp. 29-39, 1996 
    4. L. Qiu and W. W. Hsu, 'Scheduling and rounting algorithms for AGVs: a survey.' Technical report: CAIS-TR-99-26, Center for Advanced Information Systems, School of Applied Science, Nanyang Technological University, Singapore, Oct. 1999 
    5. D. R. Shier, 'On algorithms for finding the K shortest paths in a network', Networks, Vol. 9, pp. 195-214, 1979 
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    8. A. J. Broadbent, C. B. Besant, S. K. Premi, abd S. P. Walker, 'Free ranging AGV systems: promises, problems and pathways', in Proc. of Int Conf. Automated Material Handling, pp. 221-237, 1985 
    9. E. G. Chang and R. Roberts, 'An improved algorithm for decentralized extrema-finding in configurations of processors', Communications of the ACM, Vol. 22, No. 5, pp. 281-283, May 1979 
    10. P. J. Eglelu and J. M. A. Tanchoco, 'Potentials for bidirevtional guided for automated guided vehicle systems', Int. J. Prod. Res., Vol. 24, No. 5, pp. 1075-1097, 1986 
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  • 이 논문을 인용한 문헌 (1)

    1. Jun Jin-Pyo ; Ryu Kwang-Ryel ; Yoon Hang-Mook 2005. "A Deadlock A voidance Method and a Regression-Based Route Selection Scheme for AGV s in Automated Container Terminals" 한국항해항만학회지 = Journal of navigation and port research, 29(8): 723~733     

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