This paper describes a methodology regarding an intelligent cruise control (ICC) of circulating robots which is directly effective for solving congestion regardless of the presence of a bottleneck. For this purpose, we focus on an external interaction force between the robots. This force is generated with the use of a virtual damper. In this methodology, control models on the basis of the following two scenarios are presented: a damping force acts on a moving robot as the external interaction force, (I) only when its preceding robot(s) is/are stopping or being congested and (II) when a robot exists in front of the moving robot, in order not to become involved in the congestion. This paper deals with a circuit and a robotic material transport system. Through simulation experiments, it is shown that the proposed ICC successfully solves the congestion, and finally, improves the performance.
各種検索
サポート
ヘルプ