A Petri Net Model for an Open Path Multi-AGV System

Davide Giglio

2014

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 transportation tasks.

References

  1. Aized, T. (2009). Modelling and performance maximization of an integrated automated guided vehicle system using coloured Petri net and response surface methods. Computers and Industrial Engineering, 57(3):822- 831.
  2. Ajmone Marsan, M., Conte, G., and Balbo, G. (1984). A class of Generalized Stochastic Petri Nets for the performance evaluation of multiprocessor systems. ACM Transactions on Computer Systems, 2(2):93-122.
  3. Castillo, I., Reyes, S. A., and Peters, B. A. (2001). Modeling and analysis of tandem AGV systems using generalized stochastic Petri nets. Journal of Manufacturing Systems, 20(4):236-249.
  4. Dotoli, M. and Fanti, M. (2004). Coloured timed Petri net model for real-time control of automated guided vehicle systems. International Journal of Production Research, 42(9):1787-1814.
  5. Duinkerken, M. B., ter Hoeven, T., and Lodewijks, G. (2006). Simulating the operational control of free ranging AGVs. In Perrone, L. F., Wieland, F. P., Liu, J., Lawson, B. G., Nicol, D. M., and Fujimoto, R. M., editors, Proceedings of the 2006 Winter Simulation Conference, pages 1515-1522.
  6. Holloway, L. E. and Krogh, B. H. (1990). Synthesis of feedback control logic for a class of controlled Petri Nets. IEEE Transactions on Automatic Control, 35(5):514- 523.
  7. Hsieh, S. (1998). Synthesis of AGVS by coloured-timed Petri nets. International Journal of Computer Integrated Manufacturing, 11(4):334-346.
  8. Hsieh, S. and Chen, Y.-F. (1999). AgvSimNet: A Petri-net-based AGVS simulation system. International Journal of Advanced Manufacturing Technology, 15(11):851-861.
  9. Jensen, K. and Kristensen, L. M. (2009). Coloured Petri Nets. Springer.
  10. Le-Ahn, T. and De Koster, M. B. M. (2006). A review of design and control of automated guided vehicle systems. European Journal of Operational Research, 171:1- 23.
  11. Lee, D. Y. and DiCesare, F. (1994). Integrated scheduling of flexible manufacturing systems employing automated guided vehicles. IEEE Transactions on Industrial Electronics, 41(6):602-610.
  12. Martínez-Barberá, H. and Herrero-Pérez, D. (2010). Autonomous navigation of an automated guided vehicle in industrial environments. Robotics and ComputerIntegrated Manufacturing, 26:296-311.
  13. Murata, T. (1989). Petri Nets: Properties, Analysis and Applications. Proceedings of the IEEE, 77(4):541-580.
  14. Nishi, T. and Maeno, R. (2010). Petri net decomposition approach to optimization of route planning problems for AGV systems. IEEE Transactions on Automation Science and Engineering, 7(3):523-537.
  15. Nishi, T. and Tanaka, Y. (2012). Petri net decomposition approach for dispatching and conflict-free routing of bidirectional automated guided vehicle systems. IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans, 42(5):1230-1243.
  16. Petri, C. A. (1962). Kommunikation mit Automaten. Bonn: Institut für Instrumentelle Mathematik, Schriften des IIM Nr. 2.
  17. Seelinger, M. and Yoder, J.-D. (2006). Automatic visual guidance of a forklift engaging a pallet. Robotics and Autonomous Systems, 54:1026-1038.
  18. Sen, A., Wang, C., Ristic, M., and Besant, C. (1991). The supervisory system of the imperial college free ranging automated guided vehicle project. In Proceedings of the 1991 IEEE International Conference on Systems, Man, and Cybernetics, pages 1017-1022.
  19. Vis, I. F. A. (2006). Survey of research in the design and control of automated guided vehicle systems. European Journal of Operational Research, 170:677-709.
  20. Wu, N. and Zhou, M. (2005). Modeling and deadlock avoidance of automated manufacturing systems with multiple automated guided vehicles. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 35(6):1193-1202.
Download


Paper Citation


in Harvard Style

Giglio D. (2014). A Petri Net Model for an Open Path Multi-AGV System . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 734-745. DOI: 10.5220/0005054807340745


in Bibtex Style

@conference{icinco14,
author={Davide Giglio},
title={A Petri Net Model for an Open Path Multi-AGV System},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={734-745},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005054807340745},
isbn={978-989-758-040-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Petri Net Model for an Open Path Multi-AGV System
SN - 978-989-758-040-6
AU - Giglio D.
PY - 2014
SP - 734
EP - 745
DO - 10.5220/0005054807340745