A LISP-based controller for free-ranging automated guided vehicle systems

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Abstract
This paper describes the development of an intelligent controller for a fleet of free-ranging automated guided vehicles. The vehicle controller will operate in real-time. Once a transportation request is received, the location where the demand is generated and the nature of the demand is sent to the vehicle controller. Based on this information and the current status of the system, the vehicle controller will perform dispatching, routing, and scheduling tasks for the free-ranging vehicles. For the selected vehicle, the vehicle controller finds a route and then it will schedule the vehicle along that route in a non-conflicting manner. The vehicle controller is capable of detecting and preventing collisions before they occur. Once a collision is detected, the vehicle controller will explore different solutions to prevent the collision. The alternative which will result in the least delay time is the solution which will be selected by the vehicle controller. The inputs to the system are the layout topology, the number of vehicles in the system, and the vehicles' characteristics.

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