Distributed control of flexible transfer system (FTS) using learning automata
Distributed control of flexible transfer system (FTS) using learning automata
复制标题
使用学习自动机的柔性传输系统（FTS）的分布式控制
DOI：
10.1109/robot.1999.769937
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
Y. Inada
中科院分区：
文献类型：
--
作者：
T. Fukuda;K. Sekiyama;Y. Hasebe;Y. Hasegawa;S. Shibata;Hironobu Yamamoto;Y. Inada
本文提出了柔性转移系统（FTS）作为自组织制造系统之一。FTS由自主机器人模块组成，这些模块转移携带物体的调色板。FTS通过自组织多层策略向量场，以完全分布式的方式产生准最优转移路径。将学习自动机应用于路径生成算法。仿真结果表明了该系统的可行性。并对所研制的硬件进行了说明。
This paper proposes a flexible transfer system (FTS) as one of the self-organizing manufacturing systems. The FTS is composed of autonomous robotic modules, which transfer a palette carrying an object. Through the self-organization of a multilayer strategic vector field corresponding to a task, the FTS can generate quasi-optimal transfer path in fully distributed way. We apply the learning automata for path generation algorithm. Simulation is conducted to evaluate the basic performance of the system and the results show the feasibility of application. Also, the developed hardware is explained.