关键词: 自动导引车系统, 避碰, 环路死锁, 有向图, 单向导引路径网络

Abstract: To avoid collision and system-deadlock between automated guided vehicles in Unidirectional Guide-path Network (UGN),a collision avoidance method was proposed by taking UGN-based automated guided vehicle (AGV) system as the object.Aiming at the features of UGN-based AGV system,an AGV system operating state model based on directed graph was built,and a cycle-deadlock search method was proposed for this model.The concept of cycle-deadlock critical state included single-loop and multi-loop cycle-deadlock critical state was defined,and the corresponding deadlock control strategy was designed in allusion to two types of cycle-deadlock critical states.The effectiveness of proposed method was proved by simulation examples.

Key words: automated guided vehicle system, collision avoidance, cycle-deadlock, directed graph, unidirectional guide-path network