Author:
Davide Giglio
Affiliation:
University of Genova, Italy
Keyword(s):
Coloured Petri nets, Automated distribution warehouses, Autonomous guided vehicles, Forklift AGVs.
Related
Ontology
Subjects/Areas/Topics:
Industrial Automation and Robotics
;
Industrial Engineering
;
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Modeling, Analysis and Control of Discrete-event Systems
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
Systems Modeling and Simulation
Abstract:
Automated distribution warehouses in which pallet and roll pallet loads are transported by means of forklift AGVs are considered in this work, with the objective of defining a mathematical model which accurately represents the behaviour of AGVs in the system. AGVs can move freely in the warehouse (an open path AGV system is adopted), and their transportation activities can be modelled as a sequence of elementary or basic actions. In the paper, a coloured Petri net (CPN) model is proposed. It allows representing any sequence of elementary actions of AGVs (including pick-up and drop-off activities), and accurately models the interactions among AGVs, in order to guarantee the safety during the execution of activities. The CPN model can be used to analyse and implement deadlock prevention and deadlock recovery strategies, and it has been adopted in the
building of a discrete-event simulator which is employed to analyse the system’s performance and to evaluate scheduling policies for tran
sportation tasks.
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