自动导引车系统避碰及环路死锁控制方法  

Collision avoidance and cycle-deadlock control method for automated guided vehicle system

作　　者：肖海宁[1,2] 楼佩煌[2] 

机构地区：[1]盐城工学院机械工程学院,江苏盐城224051 [2]南京航空航天大学机电学院,江苏南京210016

出　　处：《计算机集成制造系统》2015年第5期1244-1252,共9页Computer Integrated Manufacturing Systems

基　　金：国家自然科学基金资助项目(61105114);江苏省科技支撑计划资助项目(BE2010189);江苏省"六大人才高峰"基金资助项目~~

摘　　要：为了避免单向导引路径网络中各自动导引车间发生碰撞及系统死锁,以基于单向导引路径网络的自动导引车系统为研究对象,提出一种避免自动导引车间碰撞的避碰方法。针对基于单向导引路径的自动导引车系统特点,建立了基于有向图的自动导引车系统运行状态模型,基于该模型提出一种环路死锁搜索方法。定义了包括单环路和多环路死锁临界状态的环路死锁临界状态概念,针对两种环路死锁临界状态,设计了对应的死锁控制策略。通过仿真证明了所提方法的有效性。To avoid collision and system-deadlock between automated guided vehicles in Unidirectional Guide-path Network （UGN）, a collision avoidance method was proposed by taking UGN-based automated guided vehicle （AGV） system as the object. Aiming at the features of UGN-based AGV system, an AGV system operating state model based on directed graph was built, and a cycle-deadlock search method was proposed for this model. The con- cept of cycle-deadlock critical state included single-loop and multi-loop cycle-deadlock critical state was defined, and the corresponding deadlock control strategy was designed in allusion to two types of cycle-deadlock critical states. The effectiveness of proposed method was proved by simulation examples.

关 键 词：自动导引车系统 避碰 环路死锁 有向图 单向导引路径网络 

分 类 号：TP278[自动化与计算机技术—检测技术与自动化装置]