Resource-oriented Petri nets in deadlock avoidance of AGV systems

N. Wu, M. Zhou

Research output: Contribution to journalConference articlepeer-review

55 Scopus citations


This paper presents a colored resource-oriented Petri net (CROPN) modeling method to deal with conflict and deadlock arising in Automated Guided Vehicles (AGV) systems. The work can be viewed as the continuation of some of the authors' previous work. Some unique features in AGV systems require the further investigation into their deadlock avoidance using CROPN models. The proposed approach can easily handle both bidirectional and unidirectional paths. Bidirectional paths offer additional flexibility, efficiency and less cost than unidirectional paths. Yet they exhibit more challenging AGV management problems. By modeling nodes with places and lanes with transitions, one can easily construct a CROPN model for dynamic AGV systems with changing routes. A control policy suitable for real-time control implementation is then proposed.

Original languageEnglish (US)
Pages (from-to)64-69
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - 2001
Externally publishedYes
Event2001IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of
Duration: May 21 2001May 26 2001

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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