Control Program Design for Automated Guided Vehicle Systems via Petri Nets

Luo, Jiliang; Ni, Huijuan; Zhou, MengChu

doi:10.1109/tsmc.2014.2342199

Cited by 56 publications

(5 citation statements)

References 26 publications

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“…The data communication between the master computer and AGV is wireless, which can solve the problem of camera separation from AGV in global vision and make AGV system more flexible. 39 …”

Section: Overall Design Of Autonomous Navigation System Under Global ...mentioning

confidence: 99%

“…The data communication between the master computer and AGV is wireless, which can solve the problem of camera separation from AGV in global vision and make AGV system more flexible. 39 Indoor short-range wireless data transmission is commonly used in Bluetooth and WIFI. Compared with Bluetooth, WIFI transmission has the advantages of fast transmission speed, longer transmission distance and multi-point transmission.…”

Section: ) Communications Facilitiesmentioning

confidence: 99%

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Research on AGV trackless guidance technology based on the global vision

Zheng

2022

Science Progress

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With the change of manufacturing mode and the progress of science and technology, the traditional manufacturing industry has gradually developed to intelligent manufacturing and flexible manufacturing. To achieve factory transformation, Automatic Guided Vehicle (AGV) is indispensable. In this paper, an AGV trackless guidance technology based on global vision is proposed. Firstly, the global vision camera is used to obtain the image of the AGV driving area, and then the obstacle information and position information of the AGV are obtained by image processing technology. Secondly, the A* algorithm is used to intelligently plan the AGV driving path, and the wireless network communication is used to control the AGV driving according to the planned path. Experiments show that the method is feasible and has the advantages of high flexibility, high precision, low cost and strong expansibility, which is of great significance to the realization of intelligent warehouse and unmanned chemical plant.

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“…The data communication between the master computer and AGV is wireless, which can solve the problem of camera separation from AGV in global vision and make AGV system more flexible. 39 …”

Section: Overall Design Of Autonomous Navigation System Under Global ...mentioning

confidence: 99%

Section: ) Communications Facilitiesmentioning

confidence: 99%

Research on AGV trackless guidance technology based on the global vision

Zheng

2022

Science Progress

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“…Since more than one task may require access to the same resource, but each resource can only serve one task at a time, deadlock between different tasks may occur. The shared resource problem (Luo et al, 2014;Zhou et al, 1992) is addressed to synthesize live, bounded, and reversible Petri nets. The net models for resource specification are combined with the net models for task specification to design a net based system controller.…”

Section: Control Conditions and Rules For Multi-robot Cooperationmentioning

confidence: 99%

Design and Implementation of Distributed Autonomous Coordinators for Cooperative Multi-Robot Systems

Yasuda

2016

International Journal of System Dynamics Applications

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The paper presents a systematic method of the design of cooperative task planning and execution for complex robotic systems using multiple robots. Because individual robots can autonomously execute their dedicated tasks, in cooperative multi-robot systems, robotic activities should be designed as discrete event driven asynchronous, concurrent processes. Further, since robotic activities are hierarchically defined, control requirements should be specified in a proper and consistent manner on different levels of control abstraction. In this paper, Petri nets are adopted as a specification tool for task planning and execution by multiple robots. Based on place/transition Petri nets, control conditions for inter-robot cooperation with synchronized interaction are represented, and control rules to achieve distributed autonomous coordinated activities with synchronous and asynchronous communication are proposed. An implementation of net based control software on hierarchical and distributed architecture is presented for an example multi-robot cell, where the higher-level controller executes a global net model of task plan representing cooperative behaviors performed by the robots, and the parallel activities of the individual robots are synchronized through the transmission of requests and the reception of status between the associated lower-level local controllers.

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“…A Petri net is a directed bipartite graph with two types of nodes (vertices): places and transitions [17][18][19][20][21][22][23][24][25][26][27][28][29]. A place is usually denoted by a circle, while transition is represented by a rectangle.…”

Section: Introductionmentioning

confidence: 99%

“…The main advantage of the Petri net-based design is the possibility of the graphical specification of a system [17][18][19][20]. Moreover, they are widely supported by validation, verification and analysis methods [21][22][23][24]. Consequently, the designer is able to examine the reliability and robustness of the design [25][26][27][28].…”

Section: Introductionmentioning

confidence: 99%

Design of Petri Net-Based Cyber-Physical Systems Oriented on the Implementation in Field Programmable Gate Arrays

Wiśniewski

2021

Energies

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Two design flows of the Petri net-based cyber-physical systems oriented towards implementation in an FPGA are presented in the paper. The first method is based on the behavioural description of the system. The control part of the cyber-physical system is specified by an interpreted Petri net, and is described directly in the synthesisable Verilog hardware language for further implementation in the programmable device. The second technique involves splitting the design into sequential modules. In particular, adequate decomposition and synchronisation algorithms are proposed. The resulting modules are further modelled within the Verilog language as the composition of sequential automata. The presented design flows are supported by theoretical background, and templates of Verilog codes. The proposed techniques are illustrated by a real-life example of a multi-robot cyber-physical system, where each step of the proposed flows is explained in detail, including modelling, description of the system in the Verilog language, and final implementation within the FPGA device. The results obtained during the verification and validation confirm the proper functionality of the system designed by both design flows.

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Control Program Design for Automated Guided Vehicle Systems via Petri Nets

Cited by 56 publications

References 26 publications

Research on AGV trackless guidance technology based on the global vision

Research on AGV trackless guidance technology based on the global vision

Design and Implementation of Distributed Autonomous Coordinators for Cooperative Multi-Robot Systems

Design of Petri Net-Based Cyber-Physical Systems Oriented on the Implementation in Field Programmable Gate Arrays

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