Evaluation of AGV routeing strategies using hierarchical simulation

摘要

To analyse an automated guided vehicle (AGV) system operating under selected vehicle routeing strategies, we present a simulation model that can handle an arbitrary system layout as well as arbitrary numbers of AGVAs and pedestrians causing congestion in the system. We introduce a dynamic vehicle routein strat- egy based on hierarchical simulation that operates as follows: at the time of each AGV routein decision in the main simulation, subordinate simulations are per- Formed to evaluate a limited set of alternative routes in succession until the Current routeing decision can be finalized and the main simulation resumed. A Case study involving a prototype AGV system operating under the control of a Global vision system illustrates the advantages not only of this strategy but also of Global-vision-based control.