Optimal Petri-net controller for avoiding collisions in a class of automated guided vehicle systems
Optimal Petri-net controller for avoiding collisions in a class of automated guided vehicle systems
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用于避免一类自动引导车辆系统中碰撞的最佳 Petri-net 控制器
DOI：
10.1109/tits.2019.2937058
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发表时间：
2020-11
影响因子：
8.5
通讯作者：
Zhiwu Li
中科院分区：
文献类型：
--
作者：
Jiliang Luo;Yaxin Wan;Weimin Wu;Zhiwu Li
自动导引车（AGV）由于其高效率而被广泛用于材料的运输和分配。然而，车辆碰撞自由的问题是具有挑战性的，因为，当这些系统建模，有不可区分的和不可控的事件，由于有限的传感器和执行器。提出了一种基于Petri网的最大容许（最优）控制器设计方法。针对一类典型的AGV系统，提出了一种基于标记PN的系统建模算法，其中不可区分事件由一组带有相同标记的变迁表示，不可控事件由一个不可控变迁表示.借助于PN模型，无碰撞问题被形式化为线性约束的结合，通过算法将线性约束转换为容许约束，使得由于不可控事件引起的计算开销显着减少。反过来，开发了一种方法来计算一组一致的标记为观察到的序列的标签，表示由传感器产生的信号。最后，给定一个观测序列，一个最大允许的控制行动计算，以强制执行的基础上的一组一致性标记的容许线性约束的连接。该方法很好地解决了由不可区分和不可控制的事件引起的具有挑战性的问题。一个典型的AGV系统被用来说明和验证整个工作的理论结果。
Automated guided vehicles (AGVs) are being extensively used for transportation and distribution of materials due to their high-efficiency. However, the vehicle-collision free problem is challenging since, when modeling these systems, there are indistinguishable and uncontrollable events due to the limited sensors and actuators. This paper proposes an approach to the design of a maximally permissive (optimal) controller to prevent vehicles from any collision based on Petri nets (PNs). For a typical class of AGV systems, a system modeling algorithm is presented using labeled PN, where indistinguishable events are represented by a set of transitions carrying the same label, and an uncontrollable event by an uncontrollable transition. By virtue of the PN model, the collision-free problem is formalized as a conjunction of linear constraints that are converted into admissible ones by an algorithm such that the computational overhead due to uncontrollable events is significantly reduced. In turn, a method is developed to compute the set of consistent markings for an observed sequence of labels that represent signals generated by sensors. Finally, given an observed sequence, a maximally permissive control action is computed to enforce a conjunction of admissible linear constraints based on the set of consistent markings. The approach well addresses the challenging issues caused by indistinguishable and uncontrollable events. A typical AGV system is utilized to illustrate and verify the theoretical results throughout the work.
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发表时间：
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期刊：
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影响因子：
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