Using UPPAAL for the secure and optimal control of AGV fleets

Yoann Arnaud (1) , Jean-Louis Boimond (2) , Jose E.R. Cury (3) , J.J. Loiseau (1) , Claude Martinez (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 LISA - Laboratoire d'Ingéniérie des Systèmes Automatisés
3 LCMI-DAS - Laboratório de Controle e Microinformática

The design and realization of an on line control system for automated guided vehicles (AGV) is addressed. A synthesis method is proposed based on the use of the model checking tool for timed automata UPPAAL. This system has to route the vehicles while ensuring the system safeness, a good coordination between vehicles and the optimization of performance criteria. This problem is like synthesizing a Ramadge and Wonham supervisor combined with routing and optimizing functions, that is an ongoing problem within the supervisory control theory. The proposed concepts are validated through a software tool suite based on UPPAAL in order to generate optimal traces and interact with an AGV system emulated with Arena.

Mots clés: Timed state automata; UPPAAL; Control; Optimization; Automated guided vehicules

Domaines: Automatique / Robotique

Yoann Arnaud, Jean-Louis Boimond, Jose E.R. Cury, J.J. Loiseau, Claude Martinez. Using UPPAAL for the secure and optimal control of AGV fleets. 7th Workshop on Advanced Control and Diagnosis ACD 2009, Nov 2009, Zielona Góra, Poland. http://www.issi.uz.zgora.pl/ACD_2009/program/articles.html. ⟨hal-00463480⟩