工业环境下AGV的分布式无碰撞协议
Distributed Collision-free Protocol for AGVs in Industrial Environments
摘要：
在本文中，我们提出了一个分散的协调算法的安全和有效的管理一组移动机器人在动态的工业环境中的预定义的路径。该算法是基于一个共享资源协议和重新规划策略。它被证明是保证有序的流量避免碰撞，死锁（失速情况）和活锁（代理移动，而不到达最终目的地）。该方法证明了资源的相互访问，同时给出了最大AGV数量的条件，以确保在系统演化过程中没有死锁。最后给出了验证局部活锁的条件。与分布式机器人系统（DRS）的模型一致，不需要集中式机制，同步时钟，共享内存或地面支持。一个本地机器人间的通信，基于标志牌，被认为是在一个小数目的空间相邻的机器人单元。
英文摘要：
In this paper, we propose a decentralized coordina- tion algorithm for safe and efficient management of a group of mobile robots following predefined paths in a dynamic industrial environment. The proposed algorithm is based on a shared resources protocol and a replanning strategy. It is proved to guarantee ordered traffic flows avoiding collisions, deadlocks (stall situations) and livelock (agents move without reaching final destinations). Mutual access to resources has been proved for the proposed approach while condition on the maximum number of AGVs is given to ensure the absence of deadlocks during system evolutions. Finally conditions to verify a local livelocks will also be proposed. In consistency with the model of distributed robotic systems (DRS), no centralized mechanism, synchronized clock, shared memory or ground support is needed. A local inter-robot communication, based on sign-boards, is considered among a small number of spatially adjacent robotic units.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
