Coordinated multi-robotic vehicles navigation and control in shop floor automation

Klančar, Gregor (author), Seder, Marija (author)

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.

• Language: English
• Keywords: navigation, model predictive control, path planing, mobile robots, warehouse automation
• Work type: Article
• Typology: 1.01 - Original Scientific Article
• Organization: FE - Faculty of Electrical Engineering
• Publication status: Published
• Publication version: Version of Record
• Year: 2022
• Number of pages: 21 str.
• Numbering: Vol. 22, iss. 4, art. 1455
• PID: 20.500.12556/RUL-137297
• UDC: 007.52
• ISSN on article: 1424-8220
• DOI: 10.3390/s22041455
• COBISS.SI-ID: 97419779
• Publication date in RUL: 09.06.2022

Record is a part of a journal

• Title: Sensors
• Shortened title: Sensors
• Publisher: MDPI
• ISSN: 1424-8220
• COBISS.SI-ID: 10176278

Licences

• License: CC BY 4.0, Creative Commons Attribution 4.0 International
• Link: http://creativecommons.org/licenses/by/4.0/
• Description: This is the standard Creative Commons license that gives others maximum freedom to do what they want with the work as long as they credit the author.
• Licensing start date: 14.02.2022

Secondary language

• Language: Slovenian
• Keywords: navigacija, modelno prediktivno vodenje, planiranje poti, mobilni roboti, avtomatizacija skladišč