本研究可以分成四個部分：首先，定義所需求環境為及時與彈性製程與途程的環境，在此部分吾人在工件的加工途程計畫採用網路式製程計畫 (flexible process plan network)，也就是發展出一個網路圖可以表現出彈性製程與彈性途程，此部分可以充份表現在工件在加工製程與途程上的彈性。第二部份為修正式倒傳法(Modified backward computation method)，根據吾人所採用網路式製程計畫，為了配合JIT拉式策略(pull strategy)發展一新倒傳法名為修正式倒傳法。第三部份為智慧型分散式控制策略，以雙方投標與搓和過程來作分散式控制，方法為在一個循環(cycle)的開始，吾人首先決定截止收集標值的時間(BCET, bid-collection expiration time)，也就是定義何時截止收集標值的時間。然後在截止收集標值的時間確定之後，收集在這之前可參與投標的工件(parts)、AGV。然後將可參與parts資訊傳到可參與投標AGV上，在根據AGV的途程，也就是AGV在系統中行進路徑；再進行AGV對Part的評估準則並給予標值、同理將可參與AGV資訊傳到可參與投標parts上，與進行Part對AGV的評估準則並給予標值。再將二部分的標回傳到系統上，並將全部標值收集起來。收集所有標值之後，進行搓和過程(matching process)，搓和之後決定得標者並將得標者做標註，每次決定一得標者，再繼續作雙方投標與搓和動作，直到該次所有工件都分派到AGV上，為一個循環(cycle)的結束，反覆進行。第四部分為根據所定義之系統環境與發展出的控制方法建立模擬實驗程式，對工件加工延遲時間(tardiness time)、製程時間(flow time)、產出量(throughput)、系統中在製品(WIP)之數量四個績效加以評估。均證明比其他控制方法有較好的表現，所以在及時環境與工件兼具彈性製程與途程的加工製程的環境下，能提供有效的AGV即時控制方法。

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