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Lamy, Matthieu. "Mechanical development of an automated guided vehicle." Thesis, KTH, Maskinkonstruktion (Inst.), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-193897.
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Automated guided vehicles (AGV) are more and more used in factories to provide a smart and adaptable material handling based on localization technologies. To use vision and path finding technologies at their full potential in these vehicles, a mechanical system able to move within a small space is required. The purpose of this study was to develop the mechanical structure of an AGV. The structure is composed of a chassis and mecanum wheels. To satisfy the needs, the vehicle had to be able to carry heavy loads while being compact. It also had to be cheap to be competitive on the market. Calculation models were developed to design mecanum wheels. From these models, the structure of the vehicle has been designed. The obtained solution fulfils requirements and solves some problems encountered by the previous design of the vehicle. However the prototype haven’t be fully tested due to manufacturing problems on rollers. This study offers a strong basis to design an AGV and points out common problems related to the design of a holonomic vehicle. Furthermore, some of the solutions proposed in this study need to be tested for validation.<br>Automatiskt styrda fordon, AGV, används allt mer i fabriker för att ge en smart och anpassningsbar materialhantering baseratdpå lokaliseringsteknik. För att möjliggöra användande av visions- och vägspårningsteknologi till dess rätta potential för automatiskt styrda fordon behövs ett mekaniskt system som kan röra sig på små ytor. Syftet med studien har varit att utveckla den mekaniska strukturen till en AGV. Strukturen består av ett chassi och mecanumhjul. För att uppfylla behovet, måste fordonet kunna bära stora laster samtidigt som det ska vara kompakt. Det krävdes även att den skulle vara billig för att vara konkurrenskraftig på marknaden. Beräkningsmodeller har tagits fram för att möjliggöra utformning av mecanumhjulen. Den hjul- och chassiutformning som tagits fram uppfyller krav som löser problem i föregående utformningar. Prototypen har dock ej blivit fullt testad på grund av tillverkningsproblem av rullarna. Studien har givit en stark bas för utformning av AGV och pekar ut vanliga problem relaterade till utformandet av holonomiska fordon. Lösningarna som presenterats i denna studie behöver testas för att validera utformningen.
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Holgersson, Anton, and Johan Gustafsson. "Trajectory Tracking for Automated Guided Vehicle." Thesis, Linköpings universitet, Reglerteknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-176423.
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The purpose of this thesis is to investigate different control strategies on a differential drive vehicle. The vehicle should be able to drive in turns at high speed and slowly when it should park next to a charger. In both these cases, good precision in both orientation and distance to the path is important. A PID and an LQ controller have been implemented for this purpose. The two controllers were first implemented in a simulation environment. After implementing the controllers on the system itself, tests to evaluate the controllers were made to imitate real-life situations. This includes tests regarding driving with different speeds in different turns, tests with load distributions, and tests with stopping accuracy. The existing controller on the system was also tested and compared to the new controllers. After evaluating the controllers, it was stated that the existing controller was the most robust. It was not affected much by the load distribution compared to the new controllers. However, the LQ controller was slightly better in most cases, even though it was highly affected by the load distribution. The PID controller performed best regarding stopping accuracy but was the least robust controller by the three. Since the existing controller has a similar performance as the LQ controller but is more robust, the existing controller was chosen as the best one.
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Dzezhyts, Yevheniy. "Next generation low-cost automated guided vehicle." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-19382.
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Automated guided vehicles (AGVs) are the key equipment of flexible production systems and an important means for realizing a modern logistics system that meets the demands of Industry 4.0. AGVs are used from the mid 50th to delegate monotonous work of delivering products from the human to the automated device. In the long run, the usage of AGVs brings huge benefits to the manufacturing companies. But the purchase and installation of these devices significantly increase operational costs. This fact halts small and medium-sized enterprises from adopting this technology on their shop floors. The idea of this thesis work is to design and create a device that can be retailed at a significantly lower price without compromising flexibility and functional properties, to be used by smaller businesses. For this mater are used more affordable parts that can bring the cost down of a final product. This work describes the process of developing a differential drive mobile platform under the control of the robotic operating system. The process includes the development of a virtual model; selection of required components and investigation of their compatibility; development of chassis, suspension, and gear system; development of a hardware interface to interact with hardware components; configuration of different algorithms of control, cartography, and navigation; evaluation of the device. The research method is used in this work is design and creation due to the necessity of creating a physical prototype. The budget specification for the project was set to 50000 SEK and the desired payload capacity was set to 100kg. The work has resulted in the creation of a prototype of the AGV. The cost of the project is 20595 SEK. The evaluation of a prototype resulted in a maximum towing force of 300N. The load capacity is limited by the mobile base is 400kg. Safety sensors are not used in this project as the device was meant to operate in a controlled environment. The work also gives an evaluation of the Gmapping algorithm in case of using the laser scanner (RPlidar A1) and two algorithms of navigation stack: TrajectoryPlannerROS and DWA planner. The final prototype is evaluated to support an autonomous movement within a controlled environment.
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Premi, Sonjoy Kumar. "The design of a free-ranging automated guided vehicle (AGV) system." Thesis, Imperial College London, 1985. http://hdl.handle.net/10044/1/37820.
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Lubbe, Hendrik Gideon. "Intelligent automated guided vehicle (AGV) with genetic algorithm decision making capabilities." Thesis, [Bloemfontein?] : Central University of Technology, Free State, 2007. http://hdl.handle.net/11462/85.
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Thesis (M.Tech.) - Central University of Technology, Free State, 2006<br>The ultimate goal regarding this research was to make an intelligent learning machine, thus a new method had to be developed. This was to be made possible by creating a programme that generates another programme. By constantly changing the generated programme to improve itself, the machines are given the ability to adapt to there surroundings and, thus, learn from experience.
This generated programme had to perform a specific task. For this experiment the programme was generated for a simulated PIC microcontroller aboard a simulated robot. The goal was to get the robot as close to a specific position inside a simulated maze as possible. The robot therefore had to show the ability to avoid obstacles, although only the distance to the destination was given as an indication of how well the generated programme was performing.
The programme performed experiments by randomly changing a number of instructions in the current generated programme. The generated programme was evaluated by simulating the reactions of the robot. If the change to the generated programme resulted in getting the robot closer to the destination, then the changed generated programme was kept for future use. If the change resulted in a less desired reaction, then the newly generated programme was removed and the unchanged programme was kept for future use. This process was repeated for a total of one hundred thousand times before the generated program was considered valid.
Because there was a very slim chance that the instruction chosen will be advantageous to the programme, it will take many changes to get the desired instruction and, thus, the desired result. After each change an evaluation was made through simulation. The amount of necessary changes to the programme is greatly reduced by giving seemingly desirable instructions a higher chance of being chosen than the other seemingly unsatisfactory instructions.
Due to the extensive use of the random function in this experiment, the results differ from one another. To overcome this barrier, many individual programmes had to be generated by simulating and changing an instruction in the generated programme a hundred thousand times.
This method was compared against Genetic Algorithms, which were used to generate a programme for the same simulated robot. The new method made the robot adapt much faster to its surroundings than the Genetic Algorithms.
A physical robot, similar to the virtual one, was build to prove that the programmes generated could be used on a physical robot.
There were quite a number of differences between the generated programmes and the way in which a human would generally construct the programme. Therefore, this method not only gives programmers a new perspective, but could also possibly do what human programmers have not been able to achieve in the past.
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Berlin, Filip, and Sebastian Granath. "Obstacle Detection and Avoidance for an Automated Guided Vehicle." Thesis, Linköpings universitet, Fordonssystem, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-177709.
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The need for faster and more reliable logistics solutions is rapidly increasing. This is due to higher demands on the logistical services to improve quality, quantity, speed and reduce the error tolerance. An arising solution to these increased demands is automated solutions in warehouses, i.e., automated material handling. In order to provide a satisfactory solution, the vehicles need to be smart and able to solve unexpected situations without human interaction. The purpose of this thesis was to investigate if obstacle detection and avoidance in a semi-unknown environment could be achieved based on the data from a 2D LIDAR-scanner. The work was done in cooperation with the development of a new load-handling vehicle at Toyota Material Handling. The vehicle is navigating from a map that is created when the vehicle is introduced to the environment it will be operational within. Therefore, it cannot successfully navigate around new unrepresented obstacles in the map, something that often occurs in a material handling warehouse. The work in this thesis resulted in the implementation of a modified occupancy grid map algorithm, that can create maps of previously unknown environments if the position and orientation of the AGV are known. The generated occupancy grid map could then be utilized in a lattice planner together with the A* planning algorithm to find the shortest path. The performance was tested in different scenarios at a testing facility at Toyota Material Handling. The results showed that the occupancy grid provided an accurate description of the environment and that the lattice planning provided the shortest path, given constraints on movement and allowed closeness to obstacles. However, some performance enhancement can still be introduced to the system which is further discussed at the end of the report. The main conclusions of the project are that the proposed solution met the requirements placed upon the application, but could benefit from a more efficient usage of the mapping algorithm combined with more extensive path planning.<br><p>Digital framläggning</p>
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Manhed, Joar. "Investigating Simultaneous Localization and Mapping for an Automated Guided Vehicle." Thesis, Linköpings universitet, Reglerteknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-163075.
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The aim of the thesis is to apply simultaneous localization and mapping (SLAM) to automated guided vehicles (AGVs) in a Robot Operating System (ROS) environment. Different sensor setups are used and evaluated. The SLAM applications used is the open-source solution Cartographer as well as Intel's own commercial SLAM in their T265 tracking camera. The different sensor setups are evaluated based on how well the localization will give the exact pose of the AGV in comparison to another positioning system acting as ground truth.
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Hamilton, Wade W. "A methodology that integrates the scheduling of job sequencing and AGV dispatching in a FMS." Thesis, This resource online, 1992. http://scholar.lib.vt.edu/theses/available/etd-09042008-063108/.
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Boje, E. P., and B. J. Kotze. "An integrated control system for an Automatic Guided Vehicle (AGV)." Interim : Interdisciplinary Journal, Vol 7, Issue 1: Central University of Technology Free State Bloemfontein, 2008. http://hdl.handle.net/11462/376.
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Published Article<br>An immense amount of research is currently, being done on the development and use of Automatic Guided Vehicles (AGVs) in industry. An important component of this research often involves navigation and route-optimization of such AGVs. In this paper the design and control of an AGV, using a stationary control system and a GPS-like navigational system, is discussed. Substantial provision has also been made for the display of operational characteristics of the AGV on the stationary control unit.
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Benmounah, Abderazak. "Transputer control of an AGV : design, construction and testing of a mobile platform." Thesis, University of Reading, 1991. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.293170.
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Engman, Arvid, and Carljohan Johansson. "Hållfasthetsanalys av infästningmellan AGV och motor : med hänsyn till femfaldig säkerhet mot brott." Thesis, Högskolan i Skövde, Institutionen för teknik och samhälle, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-6132.
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Automated Guided Vehicles, AGV:er, används i huvudsak som monteringsplattform inom tung fordonsindustri. En AGV kan användas vid montering av motorer, växellådor och chas-sin. AGV:n transporterar produkten genom en slinga i fabriken, där produkten monteras. Idag säljs AGV:n med ett löfte om femfaldig säkerhet mot brott för alla de ingående komponenter-na. AGV:n är konstruerad för att bära upp en last på maximalt 1800 kg, med säkerhetsfaktorn inkluderad. Lastens tyngdpunkt tillåts ligga en meter ut från infästningen som kopplar sam-man AGV:n med lasten. I arbetet illustreras lasten av en fiktiv motor, som väger 1800 kg med tyngdpunkten placerad en meter ut från infästningen. I detta arbete undersöks om konstruktionen av kopplingen, som kopplar samman motorn med AGV:n, lever upp till utlovad säkerhet. De delar som, i huvudsak, utgör kopplingen mellan AGV och motor är fixtur, kamskiva samt adapterplatta. Fixturen och kamskiva är monterade på AGV:n, adapterplattan monteras temporärt på motorn. Adapterplattan har tre klackar som sammanlänkar den med fixturen. För att avgöra hur väl kopplingen lever upp till femfaldig säkerhet mot brott, kartläggs de krafter som verkar i kopplingen. Dessa krafter ligger till grund för de FE-analyser som utreder kopplingens spänningsfördelning. Utifrån FE-analyser och analytiska beräkningar av kopp-lingen bestäms hållfasthetsegenskaperna. Kopplingens komponenter har, generellt, goda hållfasthetsegenskaper som lever upp till fem-faldig säkerhet mot brott. Resultaten visar att vissa komponenter har tiofaldig säkerhet mot brott vid belastning med den 1800 kg tunga motorn. Dock visar beräkningar av skruvför-banden i kopplingen på brister som bör åtgärdas. Skruvförbanden i fixturens klackar understi-ger de krav, som baseras på säkerhetsfaktorn. Under förstudien uppdagas det att fixturen, på vissa AGV:er, monterats med skruvar med lägre hållfasthetsklass än vad som står angivet på ritningsunderlaget. Detta medför en allvar-ligt sänkt säkerhet för kopplingen. Orsaken till att fel skruvar använts är inte känd. Ett arbets-sätt för att förhindra fel skruv vid montering bör finnas. I arbetet studeras Arbetsmiljöverkets föreskrift ”AFS 2008:3 – Maskiner” vilken har legat till grund vid val av säkerhetsfaktor för konstruktionen. Utifrån studien av AFS 2008:3 genom-förs ett försök till att tolka den säkerhetsfaktor som gäller för kopplingen. Resultaten av denna rapport kan ligga till grund för ett fortsatt arbete, då en vidareutveckling av kopplingen blir aktuell.<br>Automated Guided Vehicles, AGV´s, are mainly used as a mounting platform in the heavy vehicle industry. An AGV is commonly used in the assembly process of; engines, gearboxes and chassis. The AGV transports the product through a predefined trail in the plant where the product is mounted. Today the AGV is being sold with a promise, from the manufacturer, that the construction is engineered with a safety factor five, against fracture, for any component in the AGV. It is engineered to support loads to a maximum of 1800 kg, with this safety factor included. The center of gravity is allowed to be one meter out from the mount that connects AGV with the supported load. This work investigates if the coupling, which connects the supported engine with the AGV, meets safety requirements. The coupling consists three main parts; fixture, cam-disk and an adapter plate. The fixture and cam-disk is mounted on the AGV, and the adapter plate is tem-porarily mounted on the engine. The adapter plate has three so called “heels” that links it with the fixture. To determine how well the coupling meets the safety requirements, the forces acting in the structure, while the AGV is loaded, is calculated. The work load is illustrated by a fictional engine, weighing 1800 kg with its center of gravity placed one meter out from the mount. These forces form the basis for the FE-analyzes, investigating the coupling strength proper-ties. Knowing the couplings strength properties, conclusions if the coupling meets the safety requirements can be adopted. The coupling component has, in general, good strength properties that meet the safety re-quirement of five-times security. The results show that some components have tenfold safety, while the AGV carries a load of 1800 kg. Calculations show that the screw connections of the fixture don’t meet the safety requirement and needs to be further investigated. The pilot study revealed that the fixture, for some AGVs, has been assembled with wrong screws. Instead of 10.9-screws, 8.8-screws were used. This leads to a serious consequence of reduced security for the construction. The cause of why fault screw was used is not known. One approach to prevent wrong screw is highlighted as suggestions for improvement. To understand why such a high security factor as five is chosen, the regulations “AFS 2008:3 – maskiner” that formed the basis for selecting the safety factor is studied. The study has been a basis for the conclusions for this work. The results of this survey may serve as a basis for further work, when further development of the coupling is relevant.
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Carlsson, Niklas, and Filip Norberg. "Automated Guided Vehicles : En förstudie på Rusta AB:s centrallager." Thesis, Linnéuniversitetet, Institutionen för ekonomistyrning och logistik (ELO), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:lnu:diva-75286.
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Abstract Course: Thesis in logistics for the MBA program, 4FE19E, VT18 Authors: Niklas Carlsson and Filip Norberg Supervisor: Hana Hulthén Examiner: Helena Forslund Title: Automated Guided Vehicles – A preliminary study on the central warehouse of Rusta AB. Background: Automated guided vehicles (AGV) is a driverless truck, programmed to automatically transport goods from point A to point B without human interaction. Rusta AB is in the middle of an expansion of its central warehouse, the warehouse today is 64000 m2 and when the development is completed it will be around 100000 m2. This will mean longer distances for Rusta’s truck drivers to transport pallets. Therefore, Rusta got interested in investigating automated guided vehicles, in which truck flows there are opportunities to implement them and if they can lead to a cost reduction and increased productivity. Purpose: The purpose of the study is to create a decision-making model that is based on the implementation of an AGV system as a complement to a traditional truck fleet, for companies to use. To determine in which flows in Rusta’s central warehouse that are best suited for an implementation and also what type of AGV that fits best within each flow. In order to be able to answer these questions, it is required that the decisionmaking model presented is carried out. The study is a preliminary study and should be used as part of the decision-making basis when Rusta make the decision to use a AGV system or not. Method: The study is a single case study where the authors have mainly used a qualitative method through the study. However, in the final chapter of the study, a quantitative method is used. The study contains both primary and secondary data. The empirical data has been collected through interviews, observations and measurements. The questions have been analysed on the basis of grounded theory, however, not all parts of the grounded theory are used as it does not fit the research design on which the study is based. v Conclusions: A decision-making model for the strategic decision to implement AGV contains crucial and influential qualitative and quantitative factors that a company should take into account before making a decision. Five possible flows were identified where there were conditions that suited the use of AGV and it was also determined that a low-lift AGV forklift with laser navigation should be used. The flows stood up to the demands that were made both on the basis of the decision-making model that was created and also to the specific needs of each flow. Thereafter the quantitative part of the decision-making model was based on the qualitative analyses. Here it became clear that by implementing AGV in the best suited flows, Rusta could get a significantly lower cost without getting lower capacity. Rusta was therefore recommended to implement AGV in three of the five possible flows. The recommended AGV type is a low-lift AGV like the Toyota Material handling LAE250 or Jungheinrich ERE-AGV. This would reduce costs by around 600,000 SEK per year compared to the conventional trucks used today. The large cost reduction is mostly due to the lower costs for the staff. Through this, Rusta achieves the objective of the investment, to lower costs of their operations in its central warehouse. Keywords: Automated guided vehicles, distribution warehouse, flow chart, decisionmaking model
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OLMI, Roberto. "Traffic Management of Automated Guided Vehicles in Flexible Manufacturing Systems." Doctoral thesis, Università degli studi di Ferrara, 2011. http://hdl.handle.net/11392/2388756.
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The objective of the research carried out by Roberto Olmi has been the
development of an innovative traffic management system (TMS) for fleets
of automated guided vehicles (AGV) operating in industrial environments.
These vehicles are used for the transport of materials in environments where
the presence of people and moving machinery has to be expected. The TMS
has to control the motion of the vehicles so as to avoid collisions and optimize
transport times.
The approach is based on the decomposition of the problem into three
parts: assignment of transport tasks, path computation, motion control of
each AGV along its path. Transport orders are assigned to available vehicles
by solving a linear assignment problem through the Jonker Volgenant
algorithm. The objective is to minimize the sum of the times required by
each vehicle to reach the pick station assigned to it. The motion of the
vehicles is defined incrementally by a controller that periodically computes
the list of the trajectory segments that each AGV is allowed to cover. The
sequence of segments is determined so as to minimize the nominal travel
time. In order to define the movement of vehicles along their routes, a tool
called Coordination Diagram (CD) has been applied. Through this instrument,
the problem of coordinating the motion of N AGVs is transformed
into a shortest path problem within an N dimensional space with obstacles.
The main contribution of this dissertation is the application of the CD to
the problem of coordinating a fleet of AGVs in industrial environments. In
[1], [2] and [3], the student has developed an original method to calculate
efficiently the CD. This method is based on an approximation of the CD
that allows to reduce the computational cost of the algorithm and thus
makes it suitable for the coordination of tens of vehicles. To calculate the
shortest path to the CD, in [4] and [5] a complete planning solution has been
proposed that provides greater efficiency with respect to an incremental
approach. However, since the CD changes each time that a path of a vehicle
is modified, an incremental approach is required for the coordination of
AGVs. In particular, in [3] the action that maximizes the advancement of
the fleet while respecting the constraints imposed by the CD is determined
by solving Maximum Independent Set problem. The solver is an heuristic
algorithm which has time complexity quadratic in the number of vehicles
considered.
In order to test the proposed TMS, a simulation software has been developed
using Matlab. The simulations consider AGVs operating on real
layouts developed by Elettric80 S.p.A., a manufacturer of AGV. The proposed
algorithm is much more flexible than the one currently used by the
company. It does not require the manual definition of traffic rules and it
allows a significant savings of time (> 30 days / person) in the construction
of new plants. The research project presented in this dissertation has been
selected as a finalist at the “European Technology Transfer Award 2010”
organized by the associations EUROP(1) and EURON(2).-----
(1) EUROP (www.robotics-platform.eu) is the European Robotics Technology Platform, an industrydriven
framework for the main stakeholders in robotics.
(2) EURON (www.euron.org) is the European Robotics Research Network, a community of more than
200 academic and industrial groups in Europe.
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Köhler, Tomáš. "Návrh automatického vozíku AGV." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2017. http://www.nusl.cz/ntk/nusl-318770.
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This master thesis deals with design of the automated guided vehicle (AGV) for securing of material flow in industry. Emphasis is placed especially on the locomotion system, which includes steering mechanism, traction propulsion with gearbox and traction batteries. This thesis also includes design of the vehicle’s frame and its strength check using finite element method. Part of this thesis is also production drawings of the selected parts and total drawing set of the AGV.
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Paul, Johanna. "Design and development of a graphical user interface for the monitoring process of an automated guided vehicle fleet." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-281289.
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Many different autonomously driving mobile robots are used for industrial transports of materials or oods in the context of internal logistic processes because of different use cases. The problem for the users that need to monitor the robots is that each manufacturer provides its own graphical user interface (GUI) wi th different operating modes and visual designs, which requires different trainings and constant swi tching between software. Therefore, this paper shows the design and development process of a graphical user interface in the form of a web application for the monitoring process of a fleet of automated guided vehicles from different manufacturers and answers the following question: "What are the main criteria when designing a graphical user interface with high usability for the monitoring process of manufacturer-independent automa ted guided vehicle f leets?” To answer the question, existing graphical user interfaces from different manufacturers were analyzed and interviews with developers and end-users of the GUIs were conducted. Requirements were then derived, on whose basis sketching, wireframing and high-fidelity prototyping have been performed. Usability testing and a heuristic evaluation were chosen to improve the application and its usability continually. As a result, the following six main criteria could be derived that summarize the most essential points to consider when designing such a GUI: administrabi lity, adaptiveness, observability, analyzability, robot and job awareness, and intervention.<br>Många olika autonomt körande mobila robotar används för industriell transport av material eller varor i samband med interna logistiska processer till följd av olika användningsfall. Problemet för de användare som behöver övervaka robotarna är att varje tillverkare tillhandahåller sitt eget grafiska användargränssnitt (GUI) med olika driftsätt och visuella utformningar, vilket kräver olika utbildningar och ständig växling mellan mjukvara. Denna uppsats visar därför design- och utvecklingsprocessen för ett grafiskt användargränssnitt i form av en webbapplikation för övervakningsprocessen för en samling av automatiserade guidade fordon från olika tillverkare, och svarar på följande fråga: "Vilka är de viktigaste kriterierna vid utformningen av ett grafiskt användargränssnitt med hög användbarhet för övervakningsprocessen av automatiserade guidade fordonsamlingar, oboeroande av tillverkare?” För att svara på frågan analyserades befintliga grafiska användargränssnitt från olika tillverkare, samt intervjuer med utvecklare och slutanvändare av GUI:erna utfördes. Krav härleddes sedan, baserat på vilka skisser, wireframing och hifi -prototyper som har utförts. Användbarhetstest och en heuristisk utvärdering valdes för att kontinuerligt förbättra applikationen och dess användbarhet. Som ett resultat kan följande sex huvudkriterier härledas, de sammanfattar de viktigaste punkterna att tänka på när man utformar ett sådant GUI: förmåga att administrera, anpassningsförmåga, observerbarhet, analyserbarhet, robot- och jobbmedvetenhet och intervention.
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Persson, Olof, and Patrik Kosowski. "Development and evaluation of dispatching strategies for the IPSI™ AGV system." Thesis, Blekinge Tekniska Högskola, Avdelningen för programvarusystem, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-1692.
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Container Terminals are experiencing increased pressure to raise their productivity levels and capacity, in order to handle the increasing amounts of container cargo due to globalization. Due to space restrictions and other financial factors, automated solutions have been developed. AGVs (Automated Guided Vehicles) are one of those automated solutions for the horizontal transportation with in a Container Terminal. A recent European sponsored project has lead to the development of a new generation of AGVs that are using cassettes namely IPSI™ AGVs. An agent-based simulator has been developed with the purpose of constructing and evaluating dispatching strategies for this new developed AGV system. Already explored dispatching strategies [9, 14] are used with additional modifications to re-evaluate them with the consideration of the usage of cassettes. Our findings from the simulation experiment are suggesting that a cost estimation based approach is much more suited than an inventory based. In addition to that, the results are very convincing in that the number of cassettes used is the most dominate factor despite dispatching strategy for obtaining a fast ship turnaround time.
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Caridá, Vinicius Fernandes. "Modelo fuzzy cascata multiatributos e preditivo para despacho de AGVs em FMS." Universidade Federal de São Carlos, 2016. https://repositorio.ufscar.br/handle/ufscar/7985.
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Previous issue date: 2016-05-02<br>In recent years, manufacturers are increasingly applying automation techniques with the aim of
increase their efficiency to remain competitive. The material handling is an essential activity in any process of production and its effectiveness has severe impacts on production costs. Systems of automated guided vehicles (AGVs) have become an important strategic tool for factories and automated warehouses. In a very competitive business scenario, they can increase productivity and reduce costs. The management of these AGVs is the key to a transport system that ensures the improvements envisioned by the industry. One of the main problems encountered in the management of AGVs is the dispatch decision. This paper proposes a vehicles dispatch model based on a fuzzy cascade system for consideration of multiple attributes of the factory and a structure based on state space that enables the extraction of information of future states of the industrial production system.
The objective is to reduce makespan and tardiness values of the production system. Two factory scenarios are simulated and tests are performed of the model and five other methods of dispatch. A statistical validation is realized of the results in which corroborates with 97% confidence the hypotheses of the work.<br>Nos últimos anos, as indústrias vêm cada vez mais aplicando técnicas de automação com o objetivo de aumentar sua eficiência para manterem-se competitivas. O manuseio de materiais é uma atividade essencial em qualquer processo de produção e sua eficácia tem impactos severos sobre os custos de produção. Sistemas de veículos autoguiados (AGVs) tornaram-se uma ferramenta estratégica
importante para fábricas e armazéns automatizados. Em um cenário de negócio muito competitivo, eles podem aumentar a produtividade e reduzir os custos. O gerenciamento desses AGVs é a chave
para um sistema de transporte que garanta as melhorias vislumbradas pelas indústrias. Um dos
principais problemas encontrados no gerenciamento dos AGVs é a decisão de despacho. Esse trabalho propõe um modelo de despacho de veículos baseado em um sistema fuzzy cascata para ponderação de múltiplos atributos da fábrica e em uma estrutura baseada em espaço de estados que permita a extração de informações de estados futuros do sistema de produção fabril. O objetivo é reduzir valores de makespan e tardiness do sistema de produção. Dois cenários de fábrica são simulados e são realizados testes do modelo proposto e cinco outros métodos de despachos. É realizada uma validação estatística dos resultados em que se corrobora com 97% de confiança as hipóteses do trabalho
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Domanos, Kyriakos. "Integrating Data Distribution Service in an Existing Software Architecture: Evaluation of the performance with different Quality of Service configurations." Thesis, Linköpings universitet, Fysik, elektroteknik och matematik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-171556.
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The Data Distribution Service (DDS) is a flexible, decentralized, peer-to-peer communication middle-ware. This thesis presents a performance analysis of the DDS usage in the Toyota Smartness platform that is used in Toyota’s Autonomous Guided Vehicles (AGVs). The purpose is to find if DDS is suitable for internal communication between modules that reside within the Smartness platform and for external communication between AGVs that are connected in the same network. An introduction to the main concepts of DDS and the Toyota Smartness platform architecture is given together with a presentation of some earlier research that has been done in DDS. A number of different approaches of how DDS can be integrated to the Smartness platform are explored and a set of different configurations that DDS provides are evaluated. The tests that were performed in order to evaluate the usage of DDS are described in detail and the results that were collected are presented, compared and discussed. The advantages and disadvantages of using DDS are listed, and some ideas for future work are proposed.
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Williams, Stefan Bernard. "Efficient Solutions to Autonomous Mapping and Navigation Problems." Thesis, The University of Sydney, 2001. http://hdl.handle.net/2123/809.
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This thesis deals with the Simultaneous Localisation and Mapping algorithm as it pertains to the deployment of mobile systems in unknown environments. Simultaneous Localisation and Mapping (SLAM) as defined in this thesis is the process of concurrently building up a map of the environment and using this map to obtain improved estimates of the location of the vehicle. In essence, the vehicle relies on its ability to extract useful navigation information from the data returned by its sensors. The vehicle typically starts at an unknown location with no a priori knowledge of landmark locations. From relative observations of landmarks, it simultaneously computes an estimate of vehicle location and an estimate of landmark locations. While continuing in motion, the vehicle builds a complete map of landmarks and uses these to provide continuous estimates of the vehicle location. The potential for this type of navigation system for autonomous systems operating in unknown environments is enormous. One significant obstacle on the road to the implementation and deployment of large scale SLAM algorithms is the computational effort required to maintain the correlation information between features in the map and between the features and the vehicle. Performing the update of the covariance matrix is of O(n3) for a straightforward implementation of the Kalman Filter. In the case of the SLAM algorithm, this complexity can be reduced to O(n2) given the sparse nature of typical observations. Even so, this implies that the computational effort will grow with the square of the number of features maintained in the map. For maps containing more than a few tens of features, this computational burden will quickly make the update intractable - especially if the observation rates are high. An effective map-management technique is therefore required in order to help manage this complexity. The major contributions of this thesis arise from the formulation of a new approach to the mapping of terrain features that provides improved computational efficiency in the SLAM algorithm. Rather than incorporating every observation directly into the global map of the environment, the Constrained Local Submap Filter (CLSF) relies on creating an independent, local submap of the features in the immediate vicinity of the vehicle. This local submap is then periodically fused into the global map of the environment. This representation is shown to reduce the computational complexity of maintaining the global map estimates as well as improving the data association process by allowing the association decisions to be deferred until an improved local picture of the environment is available. This approach also lends itself well to three natural extensions to the representation that are also outlined in the thesis. These include the prospect of deploying multi-vehicle SLAM, the Constrained Relative Submap Filter and a novel feature initialisation technique. Results of this work are presented both in simulation and using real data collected during deployment of a submersible vehicle equipped with scanning sonar.
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Johansson, Ellen, and Sofia Lundin. "Planering för implementering av självkörande truckar : - En fallstudie på Electrolux Professional AB." Thesis, Linnéuniversitetet, Institutionen för maskinteknik (MT), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:lnu:diva-85181.
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Industri 4.0 är idag ett omtalat koncept inom industrin som innebär att fabriker ska digitaliseras och automatiseras för att kunna uppnå effektiva produktionsfördelar. Intern transport är ett av områdena som går att automatisera där man kan ersätta de traditionella truckarna med förarlösa truckar, så kallade Automated Guided Vehicles. Syftet med arbetet var att få en förståelse för vilka faktorer som är viktiga vid implementering av självkörande truckar. För att uppnå syftet använde studien sig av följande frågeställning: • Vilka viktiga faktorer behöver man ta hänsyn till vid implementering av självkörande truckar? Genom litteraturstudie, studiebesök, empiriskt material och ostrukturerade intervjuer kom studien fram till att följande huvudrubriker med tillhörande underrubriker är viktiga faktorer att ta hänsyn till vid implementering av självkörande truckar: System/IT Underhåll Batteri och laddning Support och service Förutsättningar i produktionen Övrigt Kostnader Målet med fallstudien var att ta fram en rekommendation angående vilken leverantör som är mest lämplig för applikationen utifrån specificerade krav och behov som möjliggör implementering av självkörande truckar i Electrolux’ produktion, med avseende på att förbättra arbetsmiljö och resurseffektivitet.
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Caridá, Vinicius Fernandes. "Modelo adaptativo fuzzy genético, preditivo e multiobjetivo para despacho de AGVs." Universidade Federal de São Carlos, 2011. https://repositorio.ufscar.br/handle/ufscar/468.
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Previous issue date: 2011-06-14<br>Financiadora de Estudos e Projetos<br>In recent years, most companies apply techniques of industrial automation with the goal of increasing its efficiency. Increasingly Automated Guided Vehicles (AGVs) are used to transport work in factories and warehouses. The management of these AGV is the key to an efficient transport system. One of the main problems encountered in the management of AGV is the dispatching decision. This work proposes a method of dispatching of AGV with the ability to optimize the performance of flexible manufacturing systems (FMS) in real time. In the dispatching deciding can be chosen to optimize two objectives: makespan or tardiness. When the goal is to optimize the makespan are evaluated variables: distance, number of nodes, the input buffer and output buffer of the workstation. When the goal is to optimize the tardiness are evaluated variables: distance, number of nodes, task chaining, date of delivery. In both cases are also considered the time of the AGVs and the processing times of the workstations, so you can anticipate some decision-making. To perform the tests we used the softwares: Matlab, CPNtools and Automod, which allow simulations of how the method works dispatching AGVs before the method is implemented in factories. Based on the tests, we analyzed the improvement in makespan and tardiness compared to other studies, but also the flexibility of the method in which it is possible to exchange goals in operating time.<br>Nos últimos anos, mais empresas aplicam técnicas de automação industrial com o objetivo de aumentar sua eficiência. Cada vez mais Veículos Auto Guiados (AGVs) são usados para tarefa de transporte em indústrias e armazéns. O gerenciamento desses AGVs é a chave para um sistema de transporte eficiente. Um dos principais problemas encontrados no gerenciamento dos AGVs é a decisão de despacho. Esse trabalho propõe um método de despacho de AGV com capacidade de otimizar o desempenho de Sistemas Flexíveis de Manufatura (FMS) em tempo real. Na tomada de decisão do despacho podem ser escolhidos dois objetivos para otimização: makespan ou tardiness. Quando o objetivo é otimizar o makespan são avaliadas as variáveis: distância, número de nós, buffer de entrada e buffer de saída das estações de trabalho. Quando o objetivo é otimizar o tardiness são avaliadas as variáveis: distância, número de nós, encadeamento de tarefas, data de entrega do produto. Em ambos os casos também são considerados os tempos dos AGVs e os tempos de processamento das estações de trabalho, para que seja possível adiantar algumas tomadas de decisões. Para realizar os testes foram usados os softwares MatLab, CPNtools e Automod, os quais permitem que simulações do funcionamento do método de despacho de AGVs antes que o método seja implementado em fábricas. Com base nos testes realizados, analisou-se as melhoras no makespan e tardiness em comparação com outros trabalhos, como também a flexibilidade do método no qual é possível a troca de objetivos em tempo de operação.
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Fithian, Jeff E. "A laser-guided, autonomous automated guided vehicle." Thesis, Virginia Tech, 1993. http://hdl.handle.net/10919/42957.
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<p>The purpose of this research was to determine the feasibility of a laser-based
positioning system as a primary navigation method. The system developed for this
research consisted of an automated guided vehicle which navigated solely with the use of
the laser-based positioning system in real-time. To date, there are no systems which can
navigate a pre-defined path using such a positioning system. Some lessons were learned
by the researcher, however, concerning the viability of this system in an industrial
environment. The system should have had the following advantages over previous
systems: 1) Greater range, 2) no prior structuring of environment, 3) real-time navigation,
and 4) no reliance on dead-reckoning for navigation.</p>
<p>
The results showed that goals two through four had been met and are advantages of
this system over current systems. The range of this system is limited, however, but it is
believed that the next generation system should have greater range than the system used in
this research.</p><br>Master of Science
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Cawkwell, Jack. "An automated guided vehicle for local transport." Thesis, Open University, 2005. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.412392.
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Swanepoel, Petrus Johannes. "Omnidirectional image sensing for automated guided vehicle." Thesis, Bloemfontein : Central University of Technology, Free State, 2009. http://hdl.handle.net/11462/39.
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Thesis (M. Tech.) -- Central University of Technology, Free State, 2009<br>Automated Guided Vehicles (AGVs) have many different design specifications, although they all have certain design features in common, for instance they are designed to follow predetermined paths, and they need to be aware of their surroundings and changes to their surroundings. They are designed to house sensors for navigation and obstacle avoidance.
In this study an AGV platform was developed by modifying an electric wheelchair. A serial port interface was developed between a computer and the control unit of the electric wheelchair, which enables the computer to control the movements of the platform.
Different sensors were investigated to determine which would be best suited and most effective to avoid collisions. The sensors chosen were mounted on the AGV and a programme was developed to enable the sensors to assist in avoiding obstacles.
An imaging device as an additional sensor system for the AGV was investigated. The image produced by a camera and dome mirror was processed into a panoramic image representing an entire 360o view of the AGV‟s surroundings. The reason for this part of the research was to enable the user to make corrections to the AGV‟s path if it became stuck along the track it was following.
The entire system was also made completely wireless to improve the flexibility of the AGV‟s applications.
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UjvaÌri, SaÌndor. "Simulation in automated guided vehicle system design." Thesis, De Montfort University, 2003. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.275545.
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Sethuramasamyraja, Balaji. "GPS Based Waypoint Navigation for an Autonomous Guided Vehicle – Bearcat III." Cincinnati, Ohio : University of Cincinnati, 2003. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=ucin1055874201.
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Dutt, Subir. "Guided vehicle systems : a simulation analysis /." Master's thesis, This resource online, 1991. http://scholar.lib.vt.edu/theses/available/etd-01122010-020040/.
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Uttendorf, Sarah [Verfasser]. "Automated Generation of Roadmaps for Automated Guided Vehicle Systems / Sarah Uttendorf." Garbsen : TEWISS - Technik und Wissen GmbH, 2019. http://d-nb.info/1193515491/34.
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Chan, Chi Kit. "An ultrasonic self-localized automated guided vehicle system /." View abstract or full-text, 2006. http://library.ust.hk/cgi/db/thesis.pl?IELM%202006%20CHAN.
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Kwa, James Boon Hwee. "Planning automated guided vehicle movements in a factory." Thesis, University of Edinburgh, 1989. http://hdl.handle.net/1842/24050.
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Baxter, Jeremy. "Fuzzy logic control of an automated guided vehicle." Thesis, Durham University, 1994. http://etheses.dur.ac.uk/5817/.
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This thesis describes the fuzzy logic based control system for an automated guided vehicle ( AGV ) designed to navigate from one position and orientation to another while avoiding obstacles. A vehicle with an onboard computer system and a beacon based location system has been used to provide experimental confirmation of the methods proposed during this research. A simulation package has been written and used to test control techniques designed for the vehicle. A series of navigation rules based upon the vehicle's current position relative to its goal produce a fuzzy fit vector, the entries in which represent the relative importance of sets defined over all the possible output steering angles. This fuzzy fit vector is operated on by a new technique called rule spreading which ensures that all possible outputs have some activation. An obstacle avoidance controller operates from information about obstacles near to the vehicle. A method has been devised for generating obstacle avoidance sets depending on the size, shape and steering mechanism of a vehicle to enable their definition to accurately reflect the geometry and dynamic performance of the vehicle. Using a set of inhibitive rules the obstacle avoidance system compiles a mask vector which indicates the potential for a collision if each one of the possible output sets is chosen. The fuzzy fit vector is multiplied with the mask vector to produce a combined fit vector representing the relative importance of the output sets considering the demands of both navigation and obstacle avoidance. This is operated on by a newly developed windowing technique which prevents any conflicts produced by this combination leading to an undesirable output. The final fit vector is then defuzzified to give a demand steering angle for the vehicle. A separate fuzzy controller produces a demand velocity. In tests carried out in simulation and on the research vehicle it has been shown that the control system provides a successful guidance and obstacle avoidance scheme for an automated vehicle.
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Martínez, Gil Fernando, and Gil Mario Martínez. "Simulation-based Automated Guided Vehicle System Capacity Calculation." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-18834.
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Simulation is becoming more important nowadays, where there is a need for developing or improving projects more efficiently without taking any economic risk. Jernbro Industrial Services AB in Skövde is specialized in Automated Guided Vehicles (AGVs) production, and so far, they have been calculating the optimal number of AGVs of a system by using Excel. However, they want to go a step further and include simulation in their projects to obtain this data more accurately and efficiently and update their working procedures. In this thesis, former articles and researches have been studied to acquire knowledge in previous works related to the calculation of the optimal number of AGVs. A market survey has been conducted to find the best software simulation tool in the market for AGVs, by analysing the main features of each software. Although many software satisfies the requirements, FlexSim is the tool that has been chosen, as it provides good results in a user-friendly way. Therefore, in order to validate whether simulation provides accurate and interesting data for the company, an already existing model has been simulated to compare the new results with the former ones calculated with Excel. After discussing the results and the issues that have been confronted during the project, it has been found that the optimal number of AGVs in the system is 3 but, in view of security and the unpredictable behaviour of AGVs systems, 4 is the number considered as the best solution for the model. Moreover, all the benefits of simulation are presented as a solution for future projects the company develops.
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MODI, SACHIN BRISMOHAN. "COMPARISON OF THREE OBSTACLE AVOIDANCE METHODS FOR AN AUTONOMOUS GUIDED VEHICLE." University of Cincinnati / OhioLINK, 2002. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1029343700.
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Sen, Anirudha. "A study of free ranging automated guided vehicle systems." Thesis, Imperial College London, 1990. http://hdl.handle.net/10044/1/46543.
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So, Annie Suet-ying. "Effect of control architectures on automated guided vehicle systems." Thesis, Virginia Tech, 1995. http://hdl.handle.net/10919/45055.
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Automated Guided Vehicle Systems (AGVSs) have been widely adopted by many low to medium manufacturing operations, particularly in Flexible Manufacturing Systems (FMS). The high degree of flexibility and control offered in vehicle routing has made AGVS a proven and viable material handling technology in today's manufacturing systems [Bozer91]. An important aspect in maintaining flexibility in an AGVS is its control architecture.
A control architecture provides the backbone of the physical and the informational infrastructure of a system. This research has identified three types of control architectures. They are the centralized, hierarchical, and heterarchical control architectures. When designing an AGVS, most designers do not consider control architecture as a design factor, and do not analyze its effect on the system's performance. The objective of this research is to analyze the effect of control architectures on the relative performance of the AGVS.
This research uses simulation to study the effect of control architectures on the AGVS. The simulation model for each control architecture contains two parts -- an AGV controller and a shop floor controller. Both models are programmed in C language. The AGV controller consists of three basic components – vehicle scheduling, vehicle routing, and traffic control. Each of these three components is modeled according to the nature and characteristics of the corresponding control architecture. Two different flow path layouts are considered for the shop floor model. The two layouts are different in size and number of work stations. Performance measures chosen for this study are intended to reflect the responsiveness of the system and the overall system performance under the impact of different control architectures.<br>Master of Science
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Jayaraman, Arun. "Use of simulation-animation techniques in the design of an automated guided vehicle system." Master's thesis, This resource online, 1993. http://scholar.lib.vt.edu/theses/available/etd-04272010-020111/.
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Liu, Shiming. "Architecture and coordination of a Holonic Automated Guided Vehicle system." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape8/PQDD_0025/MQ51397.pdf.
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Norman, Susan K. "Design of a simulation package for automated guided vehicle systems." Ohio : Ohio University, 1985. http://www.ohiolink.edu/etd/view.cgi?ohiou1184071588.
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Lapin, Brett Denton. "A learning model adaptive estimator for an automated guided vehicle." Diss., Georgia Institute of Technology, 1993. http://hdl.handle.net/1853/22218.
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Wilson, Jeffrey K. "A C-based simulation framework for automated guided vehicle systems." Thesis, This resource online, 1992. http://scholar.lib.vt.edu/theses/available/etd-02132009-172242/.
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Theivanayagam, Yogeswaran. "Design of automated guided vehicle systems using Petri net models." Thesis, This resource online, 1996. http://scholar.lib.vt.edu/theses/available/etd-09042008-063114/.
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Porst, Roland. "A new transit system and conceptual models with associated findings to improve urban transport." Thesis, Queensland University of Technology, 2002.
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Lu, Roberto Francisco-Yi. "Implementation of a remote computer controlled automatic guided vehicle /." This resource online, 1994. http://scholar.lib.vt.edu/theses/available/etd-10242009-020053/.
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Shelton, Debra Kay. "A selection model for automated guided vehicles." Thesis, Virginia Polytechnic Institute and State University, 1985. http://hdl.handle.net/10919/101465.
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This research identifies the attributes to be considered in the selection of an automated guided vehicle (AGV). A distinction is made between automated guided vehicles (AGVs) and an automated guided vehicle system (AGVS). This research is concerned only with the selection of automated guided vehicles (AGVs).
A selection model is developed which forces the user to evaluate attributes. his requirements and preferences for AGV The first step of the model allows the user to enter his specifications for AGV attributes which are applicable to his production environment. The second step in the selection model is for the user to determine 8-15 attributes to use as selection criteria. In the third phase, the user inputs his preferences and priorities with respect to the attributes chosen as selection criteria in the second step. model ranks the Based on this information, the selection AGV models in the feasible set. A description of the model and a numerical example are included.
Steps 1 and 2, described above, are implemented using an R:BASE™ program. The BASIC computer language was used to perform the interrogation of the user with respect to his priorities and preferences among attributes in Step 3. The IBM PC™ is the hardware chosen for running the selection model.<br>M.S.
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Lim, Wang Kyu. "Control algorithms for unit-load automatic guided vehicles." Diss., Georgia Institute of Technology, 1988. http://hdl.handle.net/1853/25310.
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Luwes, N. J. "A technique for tracking an indoor unmanned aerial or automated guided vehicle using a stationary camera and hue colour characteristics." Interim : Interdisciplinary Journal: Vol 9, Issue 2: Central University of Technology Free State Bloemfontein, 2010. http://hdl.handle.net/11462/355.
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Published Article<br>Today's industries are based on an automated workplace. These automated workplaces are efficient, reconfigurable and intelligent automated environments. They are filled with technology, robotics, Automated Guided Vehicle (AGV) and, or Unmanned Aerial Vehicles (UAV) etc. For full automation will one need to effectively track an object, unmanned aerial vehicle (UAV) or automated guided vehicle (AGV). Effective tracking of vehicles can be used for control. This could result in less hardware on the craft that leads to a longer battery life, a bigger pay load or more processing power.
This system track by using a stationary colour camera placed at an optimal placing in the automated workplace. The vehicle or objects are painted in two colours (colour A and colour B) that are not present in the automated workplace. The images from the camera are hue colour filtered to extract only the object or vehicle. The area, placement in frame and relationship between colour A and B are used for position and determine the orientation of AGV, UAV or object.
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Habib, Khalfallah. "Visual position recovery for an automated guided vehicle using pseudo-random encoding." Thesis, University of Ottawa (Canada), 1991. http://hdl.handle.net/10393/7518.
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The thesis presents a visual position measurement system that allows an Automated Guided Vehicle (AGV) to recover its absolute position anywhere on a pseudo-random encoded guide-path. It is based on the "window property" of pseudo-random binary sequences. The guide-path consists of an (2$\sp{\rm n}$-1) bit long encoding pseudo-random binary sequence marked on the floor as a sequence of geometric binary symbols ('E' for the binary value 1, and 'H' for the binary value 0). A long portion of the encoded guide-path has to be visible to the camera mounted on the AGV, in order to provide enough information to recover the n-bit pseudo-random window attached to any point in the field of view. The binary contents of this window uniquely identifies the absolute position of the encoded point. Image analysis and pattern recognition algorithms have been developed for the visual recovery of the pseudo-random window. The image processing essentially consists of the following steps: thresholding of the original image, boundary tracing each object in the image, polygon approximation of each boundary, extracting vertices and corners from each polygonal contour, and finally binary-symbol recognition by tree search. An original implementation of the split and merge polygon approximation results in an improvement of the run-time performance of this algorithm. An experimental vision system was implemented to test its performance for AGV absolute position recovery applications.
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Wang, I.-Chien. "Conceptual modeling architecture and implementation of object-oriented simulation for automated guided vehicle (AGV) systems." Thesis, 1995. http://hdl.handle.net/1957/34930.
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Traditional simulation languages and simulators do not
fully support the need to design, modify, and extend
simulation models of manufacturing systems, especially,
material handling systems. Since AGV systems, one type of
automated material handling systems, require complicated
control logic, flexible job routings, and frequent layout
modifications and extensions to correspond to production
requirements, the time consumption and efforts to achieve
the above tasks in traditional paradigms are significant.
However, such difficulties can be overcome by the use of
object-oriented simulation.
This research develops an object-oriented modeling
architecture for the simulation of AGV (automated guided
vehicle) systems by extending Beaumariage's object-oriented
modeling environment (1990) which is originally designed for
the simulation of job shop type manufacturing systems. For
this extension, several classes required to comprise an AGV
system are created into the original environment which
include AGV, limited size queue, control point, track
segment, machine cell, AGV system control classes, and so
on. This architecture provides a flexible environment that
enables the modeling of traditional and tandem AGV system
layouts. A best-first search approach, one artificial
intelligence search algorithm, is employed to direct AGVs to
determine the shortest path from all possible travel paths.
The computerized modeling system with this conceptual
architecture is easy to use, especially compared with
traditional simulation tools. In addition, the extended
object-oriented architecture used for the simulation of AGV
systems is program independent and may be implemented in any
object-oriented language.
The prototype system implemented as a portion of this
research is performed in Smalltalk/V. Two case examples are
presented for verification and validation.<br>Graduation date: 1996
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Yang, Hao-Yi, and 楊皓譯. "Combination of Manipulator and Mobile Robot to Automated Guide Vehicle (AGV) System." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/74922944003097004561.
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碩士<br>國立臺灣科技大學<br>自動化及控制研究所<br>103<br>In this thesis, the concept of the automated guided vehicle (AGV) as a starting point. The traditional AGV travels with orbit. The newer way use the reflective paint replace orbit and make AGV can follow the paint. However, changing the path of orbit spends huge cost and time; the trackless is also lack of flexibility. Therefore, this problem can be improved if a system is developed without orbit and path can be changed at any time.
In this thesis, the manipulator and mobile robot are implement. Proposing three behaviors in this system: target seeking, obstacle avoidance and target grasping. Target seeking and obstacle avoidance is the category of mobile robot; target grasping is the category of manipulator. In the beginning, the mobile robot waits the command by human. Set up the distance and orientation. Second, with using neuro-fuzzy controller to navigate mobile robot avoid obstacles until it reach to the destination. Then recognize the target by the camera on the top of mobile robot. And integrate eye-in-hand camera to modify the error between the end-effector and target. Finally, manipulator grasps the target and transport to the initial position and wait the next command.
There are three features in this thesis: first, mobile robot avoid obstacle with smoother trajectory and drive to destination. For narrow space it can be improve. Second, solving the problem of dead-cycle which easily occurs on obstacle avoidance behavior. Third, the target grasping adopts visual servo control. Modify the posture of manipulator and grasping the target by feedback the end-effector position on the image.
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Pancham, Ardhisha. "Variable sensor system for guidance and navigation of AGVs /." 2008. http://hdl.handle.net/10413/205.
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