Collision avoidance among AGVs at junctions

The movement of a vehicle in an automated guided vehicle system (AGVS) depends on the status of other vehicles present in the system. One of the objectives of automation is to have collision free movement to increase the safety. In this paper, two controllers are suggested that by design guarantee no collision between two vehicles at the junctions. The control laws obtained are used for finding out the initial conditions that will be safe under both of these laws, or at least under one law. Accordingly, the set of conditions for which collision can not be avoided is determined