AGV搬送システムにおける動的再構成可能な搬送順序形成

概要

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This paper proposes a system, which realizing a collective autonomous behavior such as an autonomous conveyance order formation in the AGV (Auto Guided Vehicle) transportation system. We attempt to deal with a large scale distributed autonomous system in dynamic environment feasibly. However, as far as we use a global evaluation function in order to control each agent, it is necessary that we must rewrite the global evaluation function of the system whenever the environment changes. If we use such a method, the system can not be called the real distributed autonomous system. In this paper, to realize the dynamically reconfigurable formation in the dynamic environment, we propose two ideas, the learning based on the agent's own action and the interaction with the other agents by the relative evaluation. By use of these ideas, it is shown that the dynamically reconfigurable formation emerges as the autonomous conveyance order formation of AGV transportation system in the dynamic environment.
2000-12-25