Cooperative control of multi-AGV in manufacturing

• Main Author: Shen, Yin.
• Other Authors: Xie Lihua
• Format: Final Year Project
• Language: English
• Published: 2011
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation
• Online Access: http://hdl.handle.net/10356/42730
• Institution: Nanyang Technological University

For several practical control engineering applications it is desirable that multiple systems can operate independently as well as in cooperation with each other. Especially when the transition between individual and cooperative behavior and vice versa can be carried out easily, this results in flexible and scalable systems. A subclass is formed by systems that are physically separated during individual operation, and very tightly coupled during cooperative operation. The abundance of embedded computational resources in autonomous vehicles enables enhanced operational effectiveness through cooperative teamwork in civilian and military applications. Compared to autonomous vehicles that perform solo missions, greater efficiency and operational capability can be realized from teams of autonomous vehicles operating in a coordinated fashion. Potential applications for multi-auto vehicle systems include space-based interferometers; combat, surveillance, and reconnaissance systems; hazardous material handling; and distributed reconfigurable sensor networks. To enable these applications, various cooperative control capabilities need to be developed, including formation control, rendezvous, attitude alignment, flocking, foraging, task and role assignment, payload transport, air traffic control, and cooperative search.