| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To automatically assign an AGV suitable for carrying a carrying object to a destination. <P>SOLUTION: The travel of the AGV is constituted of a Petri net model, a target state amount M<SB>r</SB>set corresponding to an AGV state and a carriage instruction is defined as a target, and an operation vector u(k) is determined from the state equation of a Petri net. A control means 213 obtains the solution of a vehicle dispatching problem using an optimum control theory by performing the moving operation of respective coils and the respective AGVs on the basis of the operation vector. In the meantime, a function to be the linear sum of the total empty vehicle traveling time of the AGV and the total carriage standby time of the coil is set in a cost function setting means 208, and the solution for which the cost function becomes minimum is obtained in a vehicle dispatching combination calculation means 209. A simulation means 203 performs respective simulations using the solution of the vehicle dispatching problem, the solution for which the cost function becomes minimum is obtained in a cost function comparison means 211, and the solution is returned to a high-order process computer 101. <P>COPYRIGHT: (C)2006,JPO&NCIPI</p> |
