20.500.12556/RUL-137297 Coordinated multi-robotic vehicles navigation and control in shop floor automation In this paper, we propose a global navigation function applied to model predictive control (MPC) for autonomous mobile robots, with application to warehouse automation. The approach considers static and dynamic obstacles and generates smooth, collision-free trajectories. The navigation function is based on a potential field derived from an E* graph search algorithm on a discrete occupancy grid and by bicubic interpolation. It has convergent behavior from anywhere to the target and is computed in advance to increase computational efficiency. The novel optimization strategy used in MPC combines a discrete set of velocity candidates with randomly perturbed candidates from particle swarm optimization. Adaptive horizon length is used to improve performance. The efficiency of the proposed approaches is validated using simulations and experimental results. navigation model predictive control path planing mobile robots warehouse automation navigacija modelno prediktivno vodenje planiranje poti mobilni roboti avtomatizacija skladišč true false true Angleški jezik Slovenski jezik Članek v reviji 2022-06-09 14:57:18 2022-06-09 14:57:19 2022-09-15 04:14:54 0000-00-00 00:00:00 2022 0 0 21 str. iss. 4, art. 1455 Vol. 22 Feb. 2022 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 007.52 1424-8220 10.3390/s22041455 97419779 sensors-22-01455-v2.pdf sensors-22-01455-v2.pdf 1 7051186DF16213511DA8005468E03220 338a0a7b645418c0c595afc7f2a7b49bb1d87e622c61afdc684f5e320d26a6d5 e9734c19-e7f3-11ec-8aca-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=157220 https://www.mdpi.com/1424-8220/22/4/1455 1 88d73e28-e7f3-11ec-8aca-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=157219 Fakulteta za elektrotehniko 0 0 0