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

Klančar, Gregor (avtor), Seder, Marija (avtor)

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.

• Jezik: Angleški jezik
• Ključne besede: navigation, model predictive control, path planing, mobile robots, warehouse automation
• Vrsta gradiva: Članek v reviji
• Tipologija: 1.01 - Izvirni znanstveni članek
• Organizacija: FE - Fakulteta za elektrotehniko
• Status publikacije: Objavljeno
• Različica publikacije: Objavljena publikacija
• Leto izida: 2022
• Št. strani: 21 str.
• Številčenje: Vol. 22, iss. 4, art. 1455
• PID: 20.500.12556/RUL-137297
• UDK: 007.52
• ISSN pri članku: 1424-8220
• DOI: 10.3390/s22041455
• COBISS.SI-ID: 97419779
• Datum objave v RUL: 09.06.2022

Gradivo je del revije

• Naslov: Sensors
• Skrajšan naslov: Sensors
• Založnik: MDPI
• ISSN: 1424-8220
• COBISS.SI-ID: 10176278

Licence

• Licenca: CC BY 4.0, Creative Commons Priznanje avtorstva 4.0 Mednarodna
• Povezava: http://creativecommons.org/licenses/by/4.0/deed.sl
• Opis: To je standardna licenca Creative Commons, ki daje uporabnikom največ možnosti za nadaljnjo uporabo dela, pri čemer morajo navesti avtorja.
• Začetek licenciranja: 14.02.2022

Sekundarni jezik

• Jezik: Slovenski jezik
• Ključne besede: navigacija, modelno prediktivno vodenje, planiranje poti, mobilni roboti, avtomatizacija skladišč