Autonomous Formation of Transportation Order under Dynamical Environment
Toshimitsu Higashi*, Kosuke Sekiyama** and Toshio Fukuda***
*Automated Systems Division, Murata Machinery, LTD., 2, Nakajima, Hashizume, Inuyama, Aichi 484-8502
**Department of Management and System Science, The Science University of Tokyo. Suwa College, 5000-1 Toyohira, Chino, Nagano 391-0292
***Center of Cooperative Research in Advanced Science and Technology, Nagoya University
This paper proposes a system, that realizes collective autonomous behavior such as an autonomous conveyance order formation in the AGV (Auto Guided Vehicle) transportation system. We attempt to deal with a large-scale distributed autonomous system in a dynamic environment feasibly. However, if we use a global evaluation function in order to control each agent, it is necessary to rewrite the global evaluation function of the system whenever the environment changes. If we use such a method, the system cannot be called a real distributed autonomous system. In this paper, we propose two ideas in order to realize dynamically reconfigurable formation in the dynamic environment, namely, learning based on the agent’s own action and interaction with other agents by relative evaluation. By use of these ideas, it is shown that dynamically reconfigurable formation emerges as an autonomous conveyance order formation of AGV transportation in the dynamic environment.
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