| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To prepare a path plan for making a total carrying time shortest in a short time without causing collision of a plurality of carriers such as an AGV with each other. Ž<P>SOLUTION: A distributed controller 2 has: a path optimization part 21 having a path plan optimization function based on an estimation index peculiar to each the AGV; a communication part 22 executing information communication of the path plan for all the AGVs by radio; and a distribution cooperation part 23 capable of preparing the path plan not causing interference or a deadlock as all the AGVs while cooperating with other AGVs. By gradually increasing a penalty for the interference with the other AGVs by repetition of the information communication in asynchronous timing by radio and optimization of the path plan for each the AGV by the distributed path planning device 2 installed in each the AGV, and by a process for stochastically skipping the production of a path, the path plan making the total carrying time shortest is prepared in a short calculation time without causing the interference between the AGVs as a whole. Ž<P>COPYRIGHT: (C)2005,JPO&NCIPI Ž</p> |
