Abstract
In this chapter we illustrate the main results of the TRAFCON experiment. We consider a real AGV based automatic warehouse system and we model the traffic control problem exploiting coordination diagrams and taking into account all the constraints holding in real plants. We propose a novel traffic manager that, besides efficiently controlling the coordinated motion of the AGVs, can dynamically change the paths the robots are following. The TRAFCON traffic manager is experimentally validated on simulated real plants and on a small-scale automatic warehouse.
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Secchi, C., Olmi, R., Fantuzzi, C., Casarini, M. (2014). TRAFCON – Traffic Control of AGVs in Automatic Warehouses. In: Röhrbein, F., Veiga, G., Natale, C. (eds) Gearing Up and Accelerating Cross‐fertilization between Academic and Industrial Robotics Research in Europe:. Springer Tracts in Advanced Robotics, vol 94. Springer, Cham. https://doi.org/10.1007/978-3-319-03838-4_5
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DOI: https://doi.org/10.1007/978-3-319-03838-4_5
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-03837-7
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