Controller Design for Avoiding Collisions in Automated Guided Vehicle Systems via Labeled Petri Nets

Ya Xin Wan, Ji Liang Luo, Qi Zhang, Wei Min Wu, Yi Sheng Huang, Meng Chu Zhou

Research output: Contribution to journalArticlepeer-review

9 Scopus citations


As for a class of automated guided vehicle systems (AGVS) that are partially controllable and with undeterministic behavior, a method is presented to design a maximally permissive controller that avoids any collision among vehicles via labeled Petri nets. It is not sure which area a vehicle enters after it leaves one because of insufficient sensors. Furthermore, a vehicle may uncontrollably enter some areas because of insufficient activators. By modeling the former case by multiple transitions labeled by a same symbol, and the latter case by an uncontrollable transition, an AGVS is represented by a labeled Petri net that is partially controllable. The whole net is partitioned into a set of dangerous regions that are controllable such that the uncontrollable issue is addressed. A method is proposed to compute the consistent marking set for a given observed sequence. By the resultant consistent marking set, the marking of each dangerous region is computed, and can be used to design a control action t o prevent each vehicle from entering each dangerous region where there is one AGV already. As a result, the maximally permissive controller is obtained.

Original languageEnglish (US)
Pages (from-to)139-144
Number of pages6
Journal14th IFAC Workshop on Discrete Event Systems WODES 2018
Issue number7
StatePublished - Jan 1 2018

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering


  • Automated navigation vehicle systems
  • Collision avoidance
  • Discrete event systems
  • Petri nets


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