A constraint-based approach for multiple non-holonomic vehicle coordination in industrial scenarios

Abstract

Autonomous vehicles are already widely used in industrial logistic settings. However, applications still lack flexibility, and many steps of the deployment process are hand-crafted by specialists. Here, we preset a new, modular paradigm which can fully solve logistic problems for AGVs, from high-level task planning to vehicle control. In particular, we focus on a new method for multi-robot coordination which does not rely on pre-defined traffic rules and in which feasible and collision-free trajectories are calculated for every vehicle according to mission specifications. Also, our solutions can be adapted on-line to exogenous events, control failures, or changes in mission requirements.