The concept of autonomous mobile robots has already been implemented in some manufacturing fields; however, it is not yet effective in the field of shop floor logistics because issues linked to decision-making control remain. A contribution to this challenge is proposed in this study through an innovative hybrid control architecture in which mobile agents adapt their degree of autonomy by switching between hierarchical and heterarchical operating modes to dynamically face disturbances and absorb them. The focus is on operational manufacturing control and the navigation layer in hierarchical mode, where a consensus control algorithm is elaborated to reduce the instability with respect to the detailed schedule. Simulation results are provided to demonstrate the effectiveness of the proposed consensus algorithm. (c) 2021 Published by Elsevier Ltd on behalf of CIRP.
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