Moving robot's mind of autonomous decentralized FMS and mind change control

摘要

This article describes the control of moving robots in an autonomous decentralized flexible manufacturing system (FMS) by changing the mind of the moving robot. In an autonomous decentralized flexible manufacturing system where a lot of moving robots operate, there are problems of path interference. There is an existing method which we have developed called AAA, and this is used to evade these interference problems. However, using this method, it is very difficult to grasp entirely the innumerable path interference situations that really occur. Therefore, to evade these unexpected situations flexibly, we propose a mind model, which is the complicated expression of combinations of three elements: stimulation vector, unit, and load. Even if a familiar situation happens, moving robots can make different actions when their mind is changed.