Conception formelle du pilotage d'une flotte de robots mobiles
Johan Girault · HAL (Le Centre pour la Communication Scientifique Directe) · 2015
The work of this thesis lies in the context ofintralogistics systems using Auto Guided Vehicles(AGV). These systems require the establishment of asupervisor in order to coordinate the AGV fleet incritical areas where each AGV has to perform itsmission whitout conflict. The missions are not knownin advance, it is the reason why we quickly have togenerate the supervisor when a new task is assignedto an AGV. Therefore, this thesis deals with the on-linesynthesis of a supervisor to coordinate a fleet ofmobile robots.This supervisor ensures the system safety (nocollision) and a good coordination between vehicles(no blocking situations). It is the so-calledWonham-Ramadge supervisor, it is the leastrestrictive, and ensures controllability andnonblocking. We propose a compositional procedureto resolve this problem allowing an efficient on-linesynthesis. A calculation on the fly is made at everyattribution of a new mission for an AGV, to actualizethe supervisor and to adapt it to the new situation.Moreover, we will improve the supervisor to optimize agiven criterion such as distance or energyconsumption. This compositional approach allows toincrease the number of considered AGV in a criticalarea compared to the monolithic approach. We showon some tests the efficiency of this method for theon-line synthesis of a supervisor to coordinate a fleetof mobile robots for real cases.