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On-line compositional controller synthesis for AGV

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Abstract

This paper deals with the on-line design of a supervisor to coordinate an automated guided vehicle (AGV) fleet. This supervisor ensures the system safety (no collision) and a good coordination between vehicles (no blocking situations). It is the so-called Wonham-Ramadge supervisor, it is the least restrictive, and ensures controllability and nonblocking. We propose a compositional procedure to resolve this problem allowing an efficient on-line synthesis. A calculation on the fly is made at every attribution of a new mission for an AGV, to actualize the supervisor and adapt it to the new situation. This compositional approach allows to increase the number of AGV taken on compared to the monolithic approach. We show on some tests the efficiency of this method for the on-line synthesis of supervisor to coordinate a fleet of mobile robots for real cases.

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Notes

  1. In this paper, we consider automata with either a unique or an empty initial state, i.e., q 0 ∈ Q or q 0 = ∅. Therefore, we denote q 0 = x 0 instead of q 0 = {x 0} as a shorthand for the initial state.

  2. In this paper, we consider automata with either a unique or an empty initial state. Therefore, we denote q 0, A B = (q 0, A , q 0, B ) as a shorthand for the initial state.

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Acknowledgments

This paper is an extended version of Girault et al. (2013) and was selected by the conference MSR’13 for this submission to the journal DEDS.

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Authors and Affiliations

  1. Ecole Centrale de Nantes, UMR CNRS 6597, IRCCyN, Nantes, France

    Johan Girault, Jean-Jacques Loiseau & Olivier H. Roux

  2. BA Systèmes, Mordelles, France

    Johan Girault

Authors
  1. Johan Girault
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  2. Jean-Jacques Loiseau
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  3. Olivier H. Roux
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Correspondence to Johan Girault.

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Girault, J., Loiseau, JJ. & Roux, O.H. On-line compositional controller synthesis for AGV. Discrete Event Dyn Syst 26, 583–610 (2016). https://doi.org/10.1007/s10626-015-0222-1

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