A model for the design of zone control automated guided vehicle systems

An analytical modelling strategy is proposed as a screening device for use prior to the simulation phase in the design of zone control automated guided vehicle systems (AGVS). The proposed model predicts the effects of the major AGVS design variables on system-performance measures including maximum throughput capacity and risk factors associated with shop locking. This is done through a process which specifically evaluates the system operating dynamics associated with vehicle fleet size, guidepath layout, workstation storage capacity, routeing, and, to a less precise extent, vehicle dispatching. Operating dynamics are defined to include vehicle blocking resulting from guidepath contention and variation of in-process storage levels. The objective of the analytical model is to reduce the extent of simulation modelling necessary to design a zone-control AGVS for a given materials-handling workload. The model is illustrated for a sample AGVS with variation in the fleet size, workstation storage capacity and dispatching rule demonstrated.     

Coloured timed Petri net model for real-time control of automated guided vehicle systems

Automated guided vehicle systems (AGVS) are material-handling devices representing an efficient and flexible option for products management in automated manufacturing systems. In AGVS, vehicles follow a guide-path while controlled by a computer that assigns the route, tasks, velocity, etc. Moreover, the design of AGVS has to take into account some management problems such as collisions and deadlocks. The paper presents a novel control strategy to avoid deadlock and collisions in zone-controlled AGVS. In particular, the control scheme manages the assignments of new paths to vehicles and their acquisition of the next zone. Moreover, the use of coloured Petri nets is proposed to model the dynamics of AGVS and implement the control strategy stemming from the knowledge of the system state. Additionally, extending the coloured Petri net model with a time concept allows investigation of system performance. Several simulations of an AGVS with varying fleet size while measuring appropriate performance indices show the effectiveness of the proposed control strategy compared with an alternative policy previously presented.     

Potentials for bi-directional guide-path for automated guided vehicle based systems

Most current applications of automated guided vehicle systems (AGVS) in manufacturing shop environments employ uni-directional guide-paths for vehicle routing despite the fact that bi-directional vehicles exist. In this paper comparisons and issues regarding unidirectional and bi-directional flows are presented. Also presented is a model of a bi-directional traffic flow guide-path. The effect of the traffic flow pattern on the shop throughput is demonstrated and compared to that of a uni-directional flow system of an equivalent facility. The model is implemented using computer simulation.     

Flow path design for automated guided vehicle systems

An important factor in the design of automated guided vehicle systems (AGVS) is the flow path design. This paper presents an approach to determining the optimal flow path. The objective is to find the flow path which will minimize total travel of loaded vehicles. The problem is formulated as a zero-one integer program. Examples are presented to demonstrate the approach.     

Modelling empty vehicle traffic in AGVS design

Empty vehicle traffic plays a critical role in the operating performance of automated guided vehicle systems (AGVSs). While significant research has been conducted on intelligent AGVS dispatching-which, in essence, is the management of empty vehicle traffic-research in AGVS design has sometimes ignored or simplified the role of empty vehicle traffic. In this paper, we show how empty vehicle traffic strongly influences several important AGVS design problems, such as flowpath design and vehicle requirements. We present analytical models to predict empty vehicle travel under two popular vehicle dispatching rules for systems facing stochastic trip demand. We show that using our models' estimates of empty vehicle traffic in the AGVS design process can dramatically improve the resulting system performance. We also analyse shop-floor transfer patters and find that empty traffic has a larger impact on systems with discernible trends in job movement.     

Decentralized autonomous AGV system for material handling

Decentralized control of an autonomous automated guided vehicle system (AGVS) used for material handling is expected to lead to high system flexibility and robustness. A complete control methodology for decentralized autonomous AGVS control was developed and implemented in a computer-integrated manufacturing environment. The methodology addresses all aspects of AGVS functionality: system management, navigation and load transfer. Hierarchical fuzzy behaviour-based control, a reactive navigation scheme, was expanded to multirobot control in semistructured environments by incorporating a priori path optimization and right-of-the-way determination.     

Impact of empty vehicle flow on performance of single-loop AGV systems

With the increasing trend in the use of automated guided vehicles systems (AGVS) in manufacturing, the need for design tools becomes greater. The problem is that optimized static design models do not ensure expected performance due to the difficulty in capturing the dynamic operational characteristics of the vehicle system. This study shows that by using the single-loop guide path configuration some of the dynamic features of the system, like the impact the empty vehicle flow has on the system's performance, is reduced. Thus, a more reliable prediction of system performance is achieved     

自动导引车模型设计

 自动导引车(AGV)的实现是智能移动机器人研究的重要内容之一． 阐述了自动导引车系统(AGVS)的构
成及工作原理，在此基础上对试验型AGV 模型的功能结构与硬件配置进行了详细的设计，并从软件上得以实现．
通过测试，表明该AGV模型达到了预期效果，为工业应用AGVS的开发提供了参考．     

A framework for the selection of idle vehicle home locations in an automated guided vehicle system

In the study of automated guided vehicles systems (AGVS), one assumption often made in the management of vehicles is the existence of either home locations or a circulatory loop to buffer or hold idle vehicles. A review of AGVS literature reveals that different researchers pursue one idle vehicle management policy or the other. In some studies, idle vehicles are assumed to circulate in some loops in the system while others assume they are routed to some dwell point locations where they are held until they are reassigned. When the dwell point option is implemented, different strategies for implementation are also available. However, what is generally lacking in references to dwell point strategies are the techniques for selecting the optimal or best dwell points for a given facility. In this study, the problem of dwell point or home location specification is addressed. The problem was modelled mathematically to determine the optimal home locations. The emphasis in the paper is on a unidirectional AGVS guide path. The criterion of optimization employed is the minimization of the system response time to vehicle demand points when dispatched from home locations. Solution methodologies are presented and example problems solved to illustrate the applications of the models presented.     

自动导引输送车系统

在工厂综合自动化中，担负输送任务的自动导引输送车（ＡＧＶ）及其系统（ＡＯＶＳ）近几年内非常引人注目．本文着重论述了自动导引输送车系统的组成、制导方式、行驶机构、控制方式以及它的末来的趋势．     

Complexity of the AGV shortest path and single-loop guide path layout problems

The guide path layout is one of the most important variables in the design of automated guided vehicle systems (AGVS). Many alternative guide path configurations have been proposed in previous research. Two of the simplest are the shortest path and shortest single-loop configurations. However, the optimal solutions to these two problems have not been easy to obtain. In this paper, we show why by proving the NP-completeness of these problems using graph theoretic methods.     

Deadlock avoidance in an automated guidance vehicle system using a coloured Petri net model

This paper addresses the problem of deadlock control in automated guided vehicle (AGV) systems for automated manufacturing systems with unidirectinal guided paths. First, a Petri net (PN) model was developed for the problem. Then, by using the PN model developed, the condition for deadlock-free operation in AGV system and a control law are presented. To avoid deadlocks in AGV systems by this law, one needs only to observe the state of the system and check the number of free spaces available in some of the circuits. It is estimated that the proposed control law is simple enough to be used in the real-time control of contemporary system configuration. Three examples are used to show the application and efficiency of the proposed control law.     

Guide path design and location of load pick-up/drop-off points for an automated guided vehicle system

The guide path layout for an automated guided vehicle system (AGVS) is a critical component in the overall design of a flexible manufacturing system (FMS) that utilizes AGVs for materials handling. Not only does it affect the total distance travelled by the vehicles but it also affects vehicle requirements and space utilization. In this study, the problem of selecting the guide path as well as the location of pick-up and drop-off points for outward and inward bound parts to departments is addressed. The problem is modelled and solved as a linear integer program with the objective of minimizing the total distance travelled.     

A neural algorithm for finding the shortest flow path for an automated guided vehicle system

The automated guided vehicle (AGV)system is emerging as the dominant technology to maximize the flexibility of material handling, while increasing the overall productivity of manufacturing operations. This paper presents a new way of finding the shortest flow path for an AGV system on a specific routing structure. An optimal solution of the system is determined by using an approach based on the Hopfield neural network with the simulated annealing (SA) procedure. In other words, the proposed approach reduces the total cost of an AGV delivery path from one workstation to another on the shop floor. By changing the temperature of the two-stage SA, a solution can be found that avoids potential collisions between AGVs. Both the flow path and the potential collision, which are major problems in AGV systems, may be solved simultaneously by the proposed neural network approach. Other advantages offered by the proposed method are its simplicity compared with operations research (OR)methods and a decreased number of needed AGVs. The performance of the approach is also investigated.     

Developing exact and Tabu search algorithms for simultaneously determining AGV loop and P/D stations in single loop systems

There are some issues which have to be addressed when designing an automated guided vehicles system (AGVS) such as flow-path layout, traffic management, the number and the location of pick up and delivery points, vehicle routing and so on. One of the AGVS guide path configurations discussed in the previous researches includes a single-loop which is the subject of this paper. In unidirectional single loop systems, determining the loop for the motion of an AGV, and the location of pick up and delivery (P/D) stations in the cells, are prominent points which, when considered simultaneously, lead to better results than determining each one independently. However, in the literature it is proved that the problem of separately determining the shortest feasible loop is a NP-complete problem. In this paper, by considering a from-to chart and a block layout as the input of problem, we try to determine: (1) a single loop, with at least one shared edge with each cell, (2) the direction of the flow and (3) the location of P/D stations on the loop, all at the same time, in a way that the total travel distance on the loop be minimised. In this regard, first a new exact algorithm is presented and then three heuristic algorithms are developed utilising a Tabu search (TS) method. Solving randomly generated test problems shows that our exact algorithm is capable of solving small size problems; also all three TS algorithms work efficiently in solving problems that could not be solved by exact algorithms.     

Event-based controller to avoid deadlock and collisions in zone-control AGVS

Automated Guided Vehicle Systems (AGVSs) are the most flexible means to transport pieces among workstations of an Automated Manufacturing System (AMS). The traffic control of such systems must be in charge of avoiding collisions and deadlock conditions. This paper formulates a zone-control scheme to face this problem in real time, based of the knowledge of the AGVS operative conditions. Starting from some theoretical results already stated in the context of deadlock avoidance in AMS, some algorithms are proposed to control, in real time, path assignments to the vehicles and their moves from zone to zone in the system. A final discussion compares the proposed approach with other methods offered by the recent literature.     

Modelling of an automated guided vehicle system (AG VS) in a just-in-time (JIT) environment

Like other production systems, just-in-time (JIT) systems need to address the issue of material transport between workstations such as those served by automated guided vehicles (AGVs). Unlike other production systems, however, the JIT philosophy imposes strict requirements on inventory levels and supply-demand protocols which render conventional AGV delivery strategies ineffective and counter-productive. This paper describes the modelling of an AGV system (AGVS) in a JIT environment in a way that is consistent with JIT principles. The influence of a ‘JIT perspective’ is emphasized throughout the model by introducing threshold values for both input and output queues, performance measures that emphasize lower inventories in addition to transport efficiency, and a new dispatching rule that implements better inventory and transport control. The dispatching rule is shown to perform better in a JIT environment than previously developed AGV dispatching rules in both transport and logistic criteria.     

A machine-to-loop assignment and layout design methodology for tandem AGV systems with single-load vehicles

In this paper, we propose a method for design of tandem automated guided vehicle (AGV) systems with single-load vehicles. We consider the concurrent design of machines layout and AGV guide paths for a tandem system. Our goal is to devise a method that can achieve the following objectives: (1) maximise the workload balance between loops; (2) minimise the inter-loop flow; and (3) minimise the total flow distance. Our method solves the problem in four stages, considering the machines layout and the tandem paths at the same time. It assigns machines to loops, determines the layout of each loop, arranges loops on the floor, and finally designs a transportation centre to link the loops. We compare the performance of our method with a sequential design method that first determines the layout and then assigns the machines to loops. We solve a number of randomly generated problems for both methods. Results indicate that the proposed algorithm performs faster and achieves lower values of inter-loop flows and inter-loop flow distances.     

Optimal dwell point location of automated guided vehicles to minimize mean response time in a loop layout

An important control issue in operating an automated guided vehicle system is where to locate idle vehicles. Dwell points for idle vehicles affect the performance of manufacturing systems. A polynomial time algorithm has been developed to determine dwell points for idle automated guided vehicles that minimize the mean response time. Both uni- and bidirectional loop layouts are considered. The proposed algorithm, based on a dynamic programming model, partitions the set of pick-up stations into subsets so that a single vehicle serves all stations in a subset. The dynamic programming algorithm has been streamlined by applying certain optimality properties. Computational results show that the proposed algorithm can solve large-scale problems in a reasonable time. A simulation experiment has also been conducted to compare several idle vehicle positioning rules, and the results show that best performance is obtained by positioning idle vehicles in dwell points that minimize the mean response time.     

Design of an automated guided vehicle-based material handling system for a flexible manufacturing system

Automated guided vehicle (AGV)-based material handling systems (MHSs), which are widely used in several flexible manufacturing system (FMS) installations, require a number of decisions to be made. These include the number of vehicles required, the track layout, traffic pattern along the AGV tracks, and solving traffic control problems. This paper addresses the key issues involved in the design and operation of AGV-based material handling systems for an FMS. The problems arising from multi-vehicle systems are analysed, and strategies for resolving them are examined using analytical and simulation models.