Semi-heterarchical architecture to AGV adjustable autonomy within FMSs

A flexible manufacturing system (FMS) is a highly integrated manufacturing system in which there is some amount of flexibility that allows the system to react in case of changes, whether predicted or unpredicted. Automated guided vehicles (AGVs) are suitable for FMSs because they provide flexibility, adjustability and the connection of processing subsystems by handling raw materials, sub-assemblies or finished products. The static level of autonomy granted to AGVs affects their flexibility in dealing with perturbations, efficiency and the contribution to global performance. This paper presents a semi-heterarchical architecture to AGVs' autonomy control to mitigate perturbations of FMS and increase their overall performance. This approach is based on the semi-heterarchical architecture between AGVs using belief-desired-intention BDI model for decision-making under normal and disturbance scenarios. The effectiveness of the proposed approach is demonstrated via a case study. We conclude that adjustable autonomy results in better performance than the classic static version.