A distributed collision-free routing system for multiple AGVs under disturbances

Shouichiro Morinaka, Tatsushi Nishi, Masami Konishi, Jun Imai

Research output: Contribution to conferencePaperpeer-review


In this study, we tackle the problem of routing multiple Automated Guided Vehicles (AGVs) with disturbances. In real life transportation environments, unexpected delays and demands may cause re-routings. A centralized controller may not work under these circumstances due to computational complexity and high number of combinations of routes. Thus, we propose a distributed routing method that can solve re-routing problem under several disturbances. Numerical results indicate that the effects of disturbances are reduced by increasing the total time of transportation and the proposed algorithm shows an advantage over a conventional method in most performance indices.

Original languageEnglish
Number of pages6
Publication statusPublished - Dec 1 2005
EventSICE Annual Conference 2005 - Okayama, Japan
Duration: Aug 8 2005Aug 10 2005


OtherSICE Annual Conference 2005


  • Automated guided vehicle
  • Distributed routing system
  • Motion delay disturbance
  • Rerouting

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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