Subsumption control architecture is an control architecture based on parallel system. Input of information of sensors is directly connected through modules in the control system, and further the decision making is connected to actuators. Automated Guided Vehicle or AGV is an automated component within integrated manufacturing system. In this article, this control architecture will be designed and implemented to an AGV. Commands are designed based on Object-Oriented technology. The commands are arranged in subsumption, where a command higher subsumed other command of its lower level. GPFO (Greater Priority First Out) technique is implemed for executing the commands by using multi-threading. Experimentation is performed to have the characteristics of commands being executed. This work introduce our effort to design an operating system for an AGV.
Preliminary Development of Subsumption Architecture Control for Automated Guided Vehicle
2019-10-23
doi:10.14710/rotasi.21.4.200-208
ROTASI; Vol 21, No 4 (2019): VOLUME 21, NOMOR 4, OKTOBER 2019; 200-208 ; 2406-9620 ; 1411-027X
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
Planning in subsumption architectures
NTRS | 1994
|AUTOMATED GUIDED VEHICLE AND AUTOMATED GUIDED VEHICLE CONTROL SYSTEM
Europäisches Patentamt | 2022
|