In this paper we propose an algorithm for decentralized control of Automated Guided Vehicles (AGVs) operating in automated warehouse environments. The motion planning part of the algorithm provides vehicles with capabilities for autonomous motion planning considering nonholonomic vehicle constraints and collision-free path execution. The decision making part of the algorithm ensures safe vehicle motions and reliable conflict situation resolution. The proposed control algorithm also prevents occurrence of deadlock and livelock situations. Stability of the algorithm has been proven by its analysis based on automata theory, while its performance has been validated by simulation on a system comprising twenty vehicles as well as experimentally on a laboratory setup comprising five Pioneer 3DX vehicles.

In this article we present a mathematical model of a spincopter - an inherently stable and easy to control unmanned aerial vehicle (UAV). Although the devised model represents only the first approximation of spincopter's physics, it captures basic phenomena that are sufficient for derivation and testing of a simple control algorithm. Results obtained by simulations in Simulink®, presented herein, demonstrate efficient performance of the proposed simple controller structure. Further tests, including investigation of complex aerodynamics effects and hardware-specified limitations, have been done using X-Plane®software package. Finally, the proposed controller has been tested experimentally. Both, X-Plane®and experimental results confirmed the outcome from Simulink®.