Table Of ContentStudies in Systems, Decision and Control 20
Hamed Fazlollahtabar
Mohammad Saidi-Mehrabad
Autonomous
Guided
Vehicles
Methods and Models for Optimal Path
Planning
Studies in Systems, Decision and Control
Volume 20
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Hamed Fazlollahtabar Mohammad Saidi-Mehrabad
Autonomous Guided Vehicles
Methods and Models for Optimal
Path Planning
ABC
HamedFazlollahtabar MohammadSaidi-Mehrabad
FacultyofIndustrialEngineering FacultyofIndustrialEngineering
IranUniversityofScienceandTechnology CenterofExcellenceforAdvance
Tehran Manufacturing
Iran IranUniversityofScienceandTechnology
Tehran
Iran
ISSN2198-4182 ISSN2198-4190 (electronic)
StudiesinSystems,DecisionandControl
ISBN978-3-319-14746-8 ISBN978-3-319-14747-5 (eBook)
DOI10.1007/978-3-319-14747-5
LibraryofCongressControlNumber:2014958756
SpringerChamHeidelbergNewYorkDordrechtLondon
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Preface
The Automated Guided Vehicle (AGV) is an automated guided cart that follows a
guided path. This equipment is widely used in industrial fields and places of
physical distribution. We have developed a new type of AGV that has additional
functions such as following the motion of people and avoiding obstacles on the
course it is traveling on. Therefore, it can work with service personnel even
though there is no pre-determined guided path. In general, an AGV is a driverless
transport system used for horizontal movement of materials. AGVs are especially
used for the internal and external transport of materials. Moreover, vision or lasers
can be used for determining the movement of an AGV.
Since their introduction in 1955, AGVs have found widespread industrial
applications. AGVs are now found in all types of industries, with the only
restrictions on their use mainly resulting from the dimensions of the goods to be
transported or spatial considerations. Many applications of AGVs are technically
feasible, but the purchase and implementation of such systems is usually based on
economic considerations. The uses of AGVs can be divided into four main areas
of application:
1) supply and disposal at storage and production areas;
2) production-integrated application of AGV trucks as assembly platforms;
3) retrieval, especially in wholesale trade; and
4) supply and disposal in special areas, such as hospitals and offices. In all of
these settings.
AGVs have been found to reduce the damage to inventory, make production
scheduling more flexible, and reduce staffing needs. But, as with any other major
capital decision, implementation of these systems must be undertaken cautiously.
The AGVs were traditionally employed in manufacturing systems, but have
recently extended their popularity to many other industrial applications, such as
goods transportation in warehouses and container transshipment systems at
container terminals. Industrial transportation systems using AGVs are used in
warehouses and manufactures.
An AGV system is a fully automated industrial transport system that makes use
of numerous AGVs. An AGV is a battery powered, computer controlled,
VI Preface
unmanned vehicle that is capable of transporting goods in an industrial
environment. The AGVs are restricted to follow pre-determined paths, on which
they navigate by using sensors and stationary beacons. Transports, which consist
of picking up a load on a certain location and transporting it to a certain
destination, are generated by an external system and have to be assigned to the
AGVs. Traditionally, one computer system (central server) is in charge of
numerous complex and time-consuming tasks such as routing, collision avoidance
or deadlock avoidance.
The AGVs themselves have little autonomy. Although this planning is efficient,
it lacks flexibility. In highly dynamic systems, where the situation changes
frequently, problems are experienced. A new and innovative architecture has been
developed that additional qualities, like flexibility and openness, to cope with the
highly dynamic environments.
AGV usage is growing. One reason is that as manufacturers strive to become
more competitive, they are adopting flexible manufacturing systems (FMS). These
systems integrate automated material handling systems, robots, numerically
controlled machine tools, and automated inspection stations. Flexible
manufacturing systems offer high capital utilization and reduced direct labor costs.
They also reduce work-in-process inventories and make it possible to work with
shorter lead times. Because the systems are flexible, they are more responsive to
changes in production requirements. These systems offer high product quality and
increased productivity.
In this book different models and methods for optimizing AGV’s path are
developed. The chapters are useful for academic courses in graduate studies. The
models are classified into single and multiple AGVs. Also, models under
uncertain conditions including fuzzy and statistical approaches are proposed.
The book chapters are organized as follows. In the first chapter an overview of
the models and methods of scheduling and routing problems for AGVs is
presented. In chapter 2, material flow optimization using AGV is discussed. In
chapter 3, a manufacturing system equipped with AGV is modeled using a
nonlinear stochastic mathematical programming. In chapter 4, reliability of AGVs
is considered and optimized. In chapter 5, path planning under uncertainty is
explained and modeled. In chapter 6, AGV routing under stochastic run time is
modeled by cross entropy concept. In chapter 7, expert system is designed for
AGV optimal path planning considering multiple criteria. In chapter 8, intelligent
Preface VII
agent is developed for path planning of AGV. In chapter 9, delay optimization for
multiple AGVs is developed and modeled. In chapter 10, Markovian modeling is
proposed for evaluation of multiple AGV system. In chapter 11, producer
behavior in an AGV equipped manufacturing system is analyzed. In the last
chapter risk evaluation for AGVs in a manufacturing system is described.
January 2015 Hamed Fazlollahtabar
Tehran, Iran Mohammad Saidi-Mehrabad
Acknowledgments
We would like to express our gratitude to the many people who saw us through
this book; to all those who provided support, talked things over, read, wrote,
offered comments, allowed us to quote their remarks and assisted in the editing,
proofreading and design.
We would like to thank Iran University of Science and Technology for enabling
us to publish this book. Above all we want to thank our families, who supported
and encouraged us in spite of all the time it took us away from them. It was a long
and difficult journey for them.
We would like to thank Prof. Nezam Mahdavi-Amiri for helping us in the
process of selection and editing. Thanks to our publisher who encouraged us.
Thanks to Prof. Abdolreza Sheikholeslami - without you this book would never
find its way to the academician.
Last and not least: We beg forgiveness of all those who have been with us over
the course of the years and whose names we have failed to mention.
H. Fazlollahtabar
M. Saidi-Mehrabad
Contents
1 Models for AGVs’ Scheduling and Routing ......................................... 1
1.1 Summary ......................................................................................... 1
1.2 Scheduling Models .......................................................................... 2
1.3 Routing Models ............................................................................... 4
1.4 Conclusions ..................................................................................... 12
References ................................................................................................ 13
2 Analytical Material Flow Model for AGV System .............................. 17
2.1 Summary ......................................................................................... 17
2.2 Statement of the Problem ................................................................ 19
2.3 Mathematical Model ....................................................................... 20
2.4 Conclusions ..................................................................................... 24
References ................................................................................................ 25
3 Nonlinear Stochastic Model for AGV System ...................................... 27
3.1 Summary ......................................................................................... 27
3.2 Statement of the Problem ................................................................ 29
3.3 Mathematical Model ....................................................................... 30
3.4 Conclusions ..................................................................................... 37
References ................................................................................................ 38
4 Reliability Model for AGV .................................................................... 41
4.1 Summary ......................................................................................... 41
4.2 Statement of the Problem ................................................................ 44
4.3 Mathematical Model ....................................................................... 45
4.4 Conclusions ..................................................................................... 53
References ................................................................................................ 54
5 Uncertain Optimal Path for AGV System ............................................ 57
5.1 Summary ......................................................................................... 57
5.2 Statement of the Problem ................................................................ 59
