1 / 19

Off-Line AGV Routing on the 2D Mesh Topology with Partial Permutation

Off-Line AGV Routing on the 2D Mesh Topology with Partial Permutation. Zeng Jianyang and Hsu Wen-Jing Center for Advanced Information Systems School of Computer Engineering Nanyang Technological University, Singapore 639798. Outline. Introduction Literature Review

ceana
Download Presentation

Off-Line AGV Routing on the 2D Mesh Topology with Partial Permutation

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Off-Line AGV Routing on the 2D Mesh Topology with Partial Permutation Zeng Jianyang and Hsu Wen-Jing Center for Advanced Information Systems School of Computer Engineering Nanyang Technological University, Singapore 639798

  2. Outline • Introduction • Literature Review • Off-Line Mesh Routing • Conclusions and Future Work 2 / 18

  3. Outline • Introduction • Literature Review • Off-Line Mesh Routing • Conclusions and Future Work 3 / 18

  4. Introduction • AGV: Automated Guided Vehicles • Problem of AGV Routing • Feasible or even optimal path • Simultaneously, without conflict, deadlock, and congestion • Compared with Shortest Path Problem (SPP) • SPP is simpler than AGV routing problem • Compared with Vehicle Routing Problem (VRP) • Length of vehicle is negligible in VRP • Collisions can be ignored in VRP • Topology is fixed and irregular in VRP 4 / 18

  5. Outline • Introduction • Literature Review • Off-Line Mesh Routing • Conclusions and Future Work 5 / 18

  6. Dijkstra’s alg, • 0-1 integer programming: • [Gaskins et al. 87] [Kaspi et al. 90] [Goetz et al. 90] • Small scale, simple, does not consider congestion, deadlocks Literature Review AGV routing for arbitrary topologies • Shortest path method • Time-window-based method • Dynamic method • [Huang et al. 89], [Fujii et al. 89], [Kim et al. 93] • Increased path utilization, expensive in computation, small system • [Taghaboni et al. 95], [Langevin et al. 96] • Local information required, quick in routes finding, small system 6 / 18

  7. Literature Review (cont’d) AGV routing on large scalable systems • Linear path layout: • [Qiu et al 01] • Conflict-free, but low utilization of land space • Loop topology: • [Banerjee et al. 95] [Bozer et al. 91] [Barad et al. 95], [Sinriech et al. 92] • Easy to implement, require little computation, low throughput • Mesh path layout: • [Hsu et al. 94], [Qiu et al. 00] • Conflict-free, extra distance traveled, large time complexity 7 / 18

  8. Literature Review (cont’d) Packet routing on mesh topology • On-line routing: • Central-control model [Gramatikakis et al. 98] • Distributed-control model [Leighton et al. 95] [Sibeyn et al. 97] [Valiant et al 82] • Off-line routing: • [Nassimi et al. 80] [Mou et al. 92] [Krizanc et al. 91] [Kaklamanis et al. 92] 8 / 18

  9. Literature Review (cont’d) Comparisons between AGV and packet routing • Similarities: • Movement patterns: permutation, k-k routing,… • Static and dynamic routing • Randomized and deterministic methods • Other issues: deadlock, live-lock, fault tolerance,… • Differences • Different definitions of link bandwidth at each step • Different sizes of buffers • Packets can be discarded, copied, but not AGV’s loads 9 / 18

  10. Literature Review (cont’d) • New issues • Routing in large scale systems • Energy-efficient routing algorithms • Dynamic routing problems 10 / 18

  11. Outline • Introduction • Literature Review • Off-Line Mesh Routing • Conclusions and Future Work 11 / 18

  12. Off-Line Mesh Routing • # of AGVs= , • Movement pattern: partial permutation • Partition of mesh path layout 12 / 18

  13. Approach Adopted from Valiant’s Algorithm • Valiant’s routing algorithm • From sources to random intermediate nodes • From intermediate nodes to destinations • Use Valiant’s ideas for partial permutation • Distribute AGVs evenly in each group • Shorten the longest distance travelled • Insight of Valiant’s algorithm • Packets are evenly distributed over global network • Packets are routed to their destinations 13 / 18

  14. 1 10 19 1 10 17 # # # =3 =3 =3 11 2 18 # # # # # # =8 =8 =8 =2 =3 =2 4 13 22 4 3 12 # # # =3 =2 =3 20 19 7 16 5 13 21 14 6 7 15 23 22 8 16 24 2 11 17 9 5 14 20 AGV destinated to submesh_column 1 AGV destinated to submesh_column 2 8 23 AGV destinated to submesh_column 3 3 12 18 6 15 21 9 24 Distribute AGVs Evenly in Each Group Size of group: x=3 rows of submeshes 14 / 18

  15. Off-Line Routing Algorithm • Phase 1: Distribute AGVs evenly in each group • Phase 2: Route AGVs to destinations • Along submesh row • Along submesh column 15 / 18

  16. Analysis of Off-Line Routing Algorithm • Theorem 6.1 : Our routing algorithm works successfully in 2n+o(n) steps, provided, where, n: size of mesh; : size of submesh; x: size of group; : number of AGVs; 16 / 18

  17. Outline • Introduction • Literature Review • Off-Line Mesh Routing • Conclusions and Future Work 17 / 18

  18. Future Work • Fault tolerance • Energy evaluation model • Movement patterns • k-to-1 • k-to-k • Routing on higher-dimensional mesh • 3D AS/RS(Automated Storage and Retrieval System) 18 / 18

  19. Thanks! Q&A

More Related