2P1-F20 学習機能を用いたAGVの自律搬送に関する研究

概要

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In order efficiently to operate FMS(Flexible Manufacturing System) by the AGV(Automatically Guided vehicle), it becomes important to control AGVs driving. This paper proposes a method of autonomous driving for multiple AGVs equipped with FMS. It is assumed that an FMS model has a one-way driving lane for AGVs and neither passing other AGV nor encountering each other is allowed. AGV is controlled by SLA (Stochastic Learning Automaton) to autonomously drive itself. SLA accomplishes such driving through learning. Numerical experiment verifies that AGV can learn proper driving actions and operate its action so as to choose the shortest possible path.
一般社団法人日本機械学会の論文