Integrated Sensing, Communication, and Control Driven Multi-AGV Closed-Loop Control

Abstract

In industrial wireless networks, the decentralized redundant design for sensing, communication, and control, as well as the frequent interaction among massive intelligent machines, result in the challenges such as high communication overhead and low production capacity. To address these problems, we propose a closed-loop control scheme based on integrated sensing, communication and control (ISCC). First, to accurately model the closed-loop control process of automated guided vehicle (AGV) in automobile assembly workshops, we establish a novel ISCC system. Then, to reduce communication overhead while ensuring the system stability, we propose a networked multi-node control method with coordinated active-passive control. Through sensing workshop environment, AGVs flexibly perform different control instructions between active local decision-making and passive reception of base station (BS) decision-making. AGVs can respond quickly to the environment and achieve high-speed movement without the requirement for frequent communication with the BS. Furthermore, we design a novel communication scheme with adaptive closed-loop interaction cycle, by deriving stability conditions for the multi-node control method and upper bound for the closed-loop interaction cycle. Through dynamically adjusting the AGVs closed-loop interaction cycle based on real-time closed-loop control status, it significantly reduces the frequency of AGV accessing BS and communication overhead, extending the controllable AGV quantity, and enhancing production capacity. Simulation results reveal that the proposed scheme improved production capacity by a minimum of 62.6% compared to conventional schemes, significantly improving communication and control performance.