Dissertations / Theses on the topic 'Automated guided vehicle systems – Evaluation'
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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.
Full textFithian, Jeff E. "A laser-guided, autonomous automated guided vehicle." Thesis, Virginia Tech, 1993. http://hdl.handle.net/10919/42957.
Full textThe 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.
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.
Master of Science
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/.
Full textUttendorf, 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.
Full textBaxter, Jeremy. "Fuzzy logic control of an automated guided vehicle." Thesis, Durham University, 1994. http://etheses.dur.ac.uk/5817/.
Full textSo, Annie Suet-ying. "Effect of control architectures on automated guided vehicle systems." Thesis, Virginia Tech, 1995. http://hdl.handle.net/10919/45055.
Full textMaster of Science
Sen, Anirudha. "A study of free ranging automated guided vehicle systems." Thesis, Imperial College London, 1990. http://hdl.handle.net/10044/1/46543.
Full textChan, 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.
Full textSwanepoel, Petrus Johannes. "Omnidirectional image sensing for automated guided vehicle." Thesis, Bloemfontein : Central University of Technology, Free State, 2009. http://hdl.handle.net/11462/39.
Full textAutomated 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.
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.
Full textWilson, 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/.
Full textTheivanayagam, 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/.
Full textJayaraman, 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/.
Full textLapin, Brett Denton. "A learning model adaptive estimator for an automated guided vehicle." Diss., Georgia Institute of Technology, 1993. http://hdl.handle.net/1853/22218.
Full textManhed, 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.
Full textLu, 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/.
Full textLim, Wang Kyu. "Control algorithms for unit-load automatic guided vehicles." Diss., Georgia Institute of Technology, 1988. http://hdl.handle.net/1853/25310.
Full textWing, Michael Antony. "Artificial intelligence techniques in the scheduling and routing of automated guided vehicle systems." Thesis, Kingston University, 1990. http://eprints.kingston.ac.uk/20546/.
Full text葉蒼 and Cang Ye. "Behavior-based fuzzy navigation of mobile vehicle in unknown and dynamically changing environment." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 1999. http://hub.hku.hk/bib/B31239626.
Full textYe, Cang. "Behavior-based fuzzy navigation of mobile vehicle in unknown and dynamically changing environment /." Hong Kong : University of Hong Kong, 1999. http://sunzi.lib.hku.hk/hkuto/record.jsp?B21185530.
Full textChurch, Stuart Michael. "Energy management system for the diagnosis and control of an automatic guided vehicle." Thesis, Nelson Mandela Metropolitan University, 2016. http://hdl.handle.net/10948/4798.
Full textSazonov, Eduard S. "A case study for building an automated damage detection system." Morgantown, W. Va. : [West Virginia University Libraries], 1999. http://etd.wvu.edu/templates/showETD.cfm?recnum=1000.
Full textTitle from document title page. Document formatted into pages; contains xiv, 429 p. : ill. (some col.). Vita. Includes abstract. Includes bibliographical references (p. 117-118).
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.
Full textThe 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.
Shelton, Debra Kay. "A selection model for automated guided vehicles." Thesis, Virginia Polytechnic Institute and State University, 1985. http://hdl.handle.net/10919/101465.
Full textM.S.
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/.
Full textBanta, Larry Eugene. "Advanced dead reckoning navigation for mobile robots." Diss., Georgia Institute of Technology, 1987. http://hdl.handle.net/1853/19323.
Full textPai, Arun S. "Development of deterministic collision-avoidance algorithms for routing automated guided vehicles /." Online version of thesis, 2008. http://hdl.handle.net/1850/7289.
Full textFlores, Javier Alejandro. "Autonomous vehicle navigation a comparative study of classical logic and neural network technique /." To access this resource online via ProQuest Dissertations and Theses @ UTEP, 2009. http://0-proquest.umi.com.lib.utep.edu/login?COPT=REJTPTU0YmImSU5UPTAmVkVSPTI=&clientId=2515.
Full textDecker, Michael Wilhelm. "Active acceleration compensation for transport of delicate objects." Thesis, Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/21258.
Full textKurdziel, Michael Scott. "A monocular color vision system for road intersection detection /." Online version of thesis, 2008. http://hdl.handle.net/1850/6208.
Full textWilliams, Stefan Bernard. "Efficient solutions to autonomous mapping and navigation problems." Connect to full text, 2001. http://hdl.handle.net/2123/809.
Full textTitle from title screen (viewed Apr. 24, 2008). Submitted in fulfilment of the requirements for the degree of Doctor of Philosophy to the Australian Centre for Field Robotics, Dept. of Mechanical and Mechatronic Engineering, Faculty of Engineering. Degree awarded 2002; thesis submitted 2001. Includes bibliography. Also available in print form.
Jansen, van Nieuwenhuizen Rudolph Johannes. "Development of an automated robot vision component handling system." Thesis, Bloemfontein : Central University of Technology, Free State, 2013. http://hdl.handle.net/11462/213.
Full textIn the industry, automation is used to optimize production, improve product quality and increase profitability. By properly implementing automation systems, the risk of injury to workers can be minimized. Robots are used in many low-level tasks to perform repetitive, undesirable or dangerous work. Robots can perform a task with higher precision and accuracy to lower errors and waste of material. Machine Vision makes use of cameras, lighting and software to do visual inspections that a human would normally do. Machine Vision is useful in application where repeatability, high speed and accuracy are important. This study concentrates on the development of a dedicated robot vision system to automatically place components exiting from a conveyor system onto Automatic Guided Vehicles (AGV). A personal computer (PC) controls the automated system. Software modules were developed to do image processing for the Machine Vision system as well as software to control a Cartesian robot. These modules were integrated to work in a real-time system. The vision system is used to determine the parts‟ position and orientation. The orientation data are used to rotate a gripper and the position data are used by the Cartesian robot to position the gripper over the part. Hardware for the control of the gripper, pneumatics and safety systems were developed. The automated system‟s hardware was integrated by the use of the different communication protocols, namely DeviceNet (Cartesian robot), RS-232 (gripper) and Firewire (camera).
Dang, Anh X. H. "Theoretical and experimental development of an active acceleration compensation platform manipulator for transport of delicate objects." Diss., Georgia Institute of Technology, 2002. http://hdl.handle.net/1853/17277.
Full textKotze, Benjamin Johannes. "Navigation for automatic guided vehicles using omnidirectional optical sensing." Thesis, Bloemfontein : Central University of Technology, Free State, 2013. http://hdl.handle.net/11462/185.
Full textAutomatic Guided Vehicles (AGVs) are being used more frequently in a manufacturing environment. These AGVs are navigated in many different ways, utilising multiple types of sensors for detecting the environment like distance, obstacles, and a set route. Different algorithms or methods are then used to utilise this environmental information for navigation purposes applied onto the AGV for control purposes. Developing a platform that could be easily reconfigured in alternative route applications utilising vision was one of the aims of the research. In this research such sensors detecting the environment was replaced and/or minimised by the use of a single, omnidirectional Webcam picture stream utilising an own developed mirror and Perspex tube setup. The area of interest in each frame was extracted saving on computational recourses and time. By utilising image processing, the vehicle was navigated on a predetermined route. Different edge detection methods and segmentation methods were investigated on this vision signal for route and sign navigation. Prewitt edge detection was eventually implemented, Hough transfers used for border detection and Kalman filtering for minimising border detected noise for staying on the navigated route. Reconfigurability was added to the route layout by coloured signs incorporated in the navigation process. The result was the manipulation of a number of AGV’s, each on its own designated coloured signed route. This route could be reconfigured by the operator with no programming alteration or intervention. The YCbCr colour space signal was implemented in detecting specific control signs for alternative colour route navigation. The result was used generating commands to control the AGV through serial commands sent on a laptop’s Universal Serial Bus (USB) port with a PIC microcontroller interface board controlling the motors by means of pulse width modulation (PWM). A total MATLAB® software development platform was utilised by implementing written M-files, Simulink® models, masked function blocks and .mat files for sourcing the workspace variables and generating executable files. This continuous development system lends itself to speedy evaluation and implementation of image processing options on the AGV. All the work done in the thesis was validated by simulations using actual data and by physical experimentation.
Cazangi, Renato Reder. "Sintese de controladores autonomos em robotica movel por meio de computação bio-inspirada." [s.n.], 2008. http://repositorio.unicamp.br/jspui/handle/REPOSIP/261234.
Full textAcompanha CD-ROM
Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação
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Resumo: Novas técnicas de navegação autônoma de robôs móveis visam suprir a crescente demanda pelo emprego de robôs em diversos setores da sociedade e junto a uma ampla gama de tarefas. Os desafios envolvidos no desenvolvimento do sistema que controla o robô permitem afirmar que a inteligência embarcada em robôs atuais ainda encontra-se em um nível incipiente e limitado. Neste trabalho, cinco frentes de pesquisa complementares são propostas visando estudar, teórica e praticamente, aspectos fundamentais de projeto e implementação de controladores autônomos inteligentes para robótica móvel. Metodologias de computação bio-inspirada e de robótica evolutiva provêem os conceitos e ferramentas que fundamentam as cinco propostas, as quais são validadas com base em sistemas de navegação concebidos e aplicados a problemas relevantes da área. Uma série de simulações computacionais em ambientes virtuais e experimentos com robôs reais é realizada, permitindo medir o alcance das contribuições e apontar as principais frentes de atuação que se abrem como perspectivas futuras da pesquisa.
Abstract: Novel techniques for autonomous robot navigation aim at fulfilling the growing demand for mobile robots in multiple segments of society and in a plethora of tasks. The challenges involved in developing the system which controls the robot allow to say that the intelligence embedded in the current robots is found to be still incipient and limited. In this work, five complementary research fronts are proposed intending to study, theoretical and practically, aspects which are fundamental to the design and implementation of intelligent autonomous controllers for mobile robotics. Bio-inspired computing and evolutionary robotics methodologies provide the concepts and tools underlying the five proposals, which are validated through navigation systems devised and applied to important problems. Numerous real robot experiments as well as computational simulations taking place in virtual environments are carried out, allowing for the evaluation of contributions and also the discussion of future possibilities.
Doutorado
Engenharia de Computação
Doutor em Engenharia Elétrica
Azzolini, Alisson Gusatti. "Aprendizado por reforço em modelos probabilísticos de redes imunológicas para robótica autônoma." [s.n.], 2011. http://repositorio.unicamp.br/jspui/handle/REPOSIP/259079.
Full textDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Elétrica e de Computação
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Resumo: Há uma demanda crescente por soluções avançadas de navegação autônoma em robótica móvel. Apresenta-se então um sistema de síntese e aprendizagem de controladores com tal finalidade. Propõe-se um controlador probabilístico, consistindo no acoplamento de um processo de decisão de Markov parcialmente observável (POMDP) com um classificador logístico multinomial. A parametrização empregada para o POMDP inspira-se numa proposta anterior de controle de robô por meio de redes imunológicas artificiais, que mostrou apresentar flexibilidade e capacidade de representação de conhecimento na execução de tarefas desafiadoras de navegação autônoma. A aprendizagem dos parâmetros do classificador logístico é efetuada através de um algoritmo de aprendizagem por reforço baseado em gradiente de política, e os do POMDP, atráves de um algoritmo de maximização de verossimilhança. Três experimentos computacionais são efetuados, dois deles utilizando somente o classificador logístico, e o terceiro utilizando o acoplamento entre POMDP e classificador logístico. Os resultados permitem a constatação de pontos fortes e algumas deficiências das duas abordagens. O trabalho aponta também para uma potencial reinterpretação do controlador baseado em rede imunológica em termos de um modelo probabilístico similar ao proposto
Abstract: There is an increasing demand for advanced solutions in autonomous navigation of mobile robots. A system is presented for the synthesis and learning of controllers for such purpose. A probabilistic controller is proposed, consisting of the coupling of a partially observable Markov decision process (POMDP) with a multinomial logistic classifier. The parametrization used for the POMDP draws on an earlier proposal of robot control based on artificial immune networks, that has shown to present flexibility and knowledge representation capability in the execution of challenging autonomous navigation tasks. Learning the logistic classifier parameters is accomplished through a reinforcement learning algorithm based on policy gradient, while the POMDP parameters are learned by a likelihood maximization algorithm. Three computational experiments are performed, two of them using only the logistic classifier, and the third one using the coupling of a POMDP with a logistic classifier. The results show some strong points and drawbacks of both approaches. The work also points torwards a potential reinterpretation of the immune network based controller in terms of a probabilistic model similar to the one proposed
Mestrado
Engenharia de Computação
Mestre em Engenharia Elétrica
Sanches, Danilo Sipoli. "Estratégia de modelagem por algoritmo genético adaptativo para programação reativa da produção de produtos com uso simultâneo de máquinas e sistemas de transporte em sistemas de manufatura." Universidade Federal de São Carlos, 2008. https://repositorio.ufscar.br/handle/ufscar/387.
Full textThe production scheduling problem of products with simultaneous use of machines and transportation systems in manufacturing systems invloves the system modeling task and the application of a technique to solve it. This scheduling type is characterized by the great amount of possible solutions and several researches indicates the Adaptive Genetic Algorithms as search method to solve this problem, where these algorithms have the capacity of globally explore the search space and to find good solutions quickly. In this dissertation, it is proposed a method that uses an adaptive genetic algorithm to solve this scheduling problem. The aim of this dissertation is to obtain good scheduling of product production, in order to reach good makespan values and response obtaining time. The makespan values are obtained by adaptive genetic algorithm and the response obtaining time is the processing time of the adaptive genetic algorithm. The results were validated in small and large scenerios and compared with the results of two other approaches. These results are presented and discussed in this dissertation.
O problema da programação da produção de produtos com uso simultâneo de máquinas e sistemas de transporte em sistemas de manufatura envolvem questões como a modelagem do problema e a técnica utilizada para resolvê-lo. Este tipo de programação é caracterizado pela grande quantidade de soluções possíveis, em que várias pesquisas apontam para o uso de Algoritmos Genéticos Adaptativos como método de busca, uma vez que estes algoritmos possuem a capacidade de percorrer de forma global o espaço da busca, a fim de encontrar boas soluções rapidamente. Neste trabalho, é proposto um método com uso de um algoritmo genético adaptativo para resolver este tipo de problema de programação. O objetivo deste trabalho é obter uma boa programação da produção de produtos, a fim de atingir um bom compromisso entre valores de makespan e de tempo de obtenção da resposta. Os valores de makespan são obtidos a partir da aplicação do algoritmo genético adaptativo e o tempo de obtenção da resposta é referente ao tempo de processamento do algoritmo genético adaptativo. Os resultados deste trabalho foram validados para cenários pe quenos e grandes e comparados com os resultados de outras duas abordagens. Estes resultados são apresentados e discutidos neste trabalho.
Nascimento, Jurandy Antonio do. "IEEE 802.15.4 - redes de sensores sem fio como infra-estrutura para comunicação entre veiculos e sistemas de controle." [s.n.], 2007. http://repositorio.unicamp.br/jspui/handle/REPOSIP/259382.
Full textDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Elétrica e Computação
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Resumo: Devido ao crescente interesse em automação de rodovias e ao desenvolvimento e a viabilidade econômica de tecnologias de comunicação sem fio, surgiram nos últimos anos projetos para a comunicação entre veículos que possibilitam que dados de sensores locais, indicando situação de risco, sejam transmitidos para outros veículos de sua vizinhança para sinalizar a situação, ou mesmo para uma possível atuação no fluxo do tráfico local. É apresentada aqui uma infra-estrutura de comunicação sem fio que faz uso da especificação IEEE 802.15.4 para a comunicação entre veículos e que tem aplicações também em controle de sistemas, devido à sua característica versátil
Abstract: Due to the increasing interest on roads automation and to the development and the economic viability of wireless communication technologies, it has appeared in the last years projects to implement inter-vehicle communication links which makes possible that local sensors data, indicating risk situation, to be transmitted to others vehicles on its neighborhoods to signalize the situation or even to a possible actuation on the local traffic flow. It is presented here a wireless communication infrastructure that makes use of IEEE 802.15.4 specification for inter-vehicle communication and also for control systems applications due to its versatile characteristics
Mestrado
Engenharia de Computação
Mestre em Engenharia Elétrica
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.
Full textFinanciadora de Estudos e Projetos
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.
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.
Read, Anthony Shoemaker. "A study of implementation and evaluation techniques of advanced guided vehicle systems." 1985. http://hdl.handle.net/2097/27528.
Full textYan, Jiaxiang. "Modeling, monitoring and optimization of discrete event systems using Petri nets." 2014. http://hdl.handle.net/1805/3874.
Full textYan, Jiaxiang. M.S.E.C.E., Purdue University, May 2013. Modeling, Monitoring and Optimization of Discrete Event Systems Using Petri Nets. Major Professor: Lingxi Li. In last decades, the research of discrete event systems (DESs) has attracts more and more attention because of the fast development of intelligent control strategies. Such control measures combine the conventional control strategies with discrete decision-making processes which simulate human decision-making processes. Due to the scale and complexity of common DESs, the dedicated models, monitoring methods and optimal control strategies for them are necessary. Among various DES models, Petri nets are famous for the advantage in dealing with asynchronous processes. They have been widely applied in intelligent transportation systems (ITS) and communication technology in recent years. With encoding of the Petri net state, we can also enable fault detection and identification capability in DESs and mitigate potential human errors. This thesis studies various problems in the context of DESs that can be modeled by Petri nets. In particular, we focus on systematic modeling, asynchronous monitoring and optimal control strategies design of Petri nets. This thesis starts by looking at the systematic modeling of ITS. A microscopic model of signalized intersection and its two-layer timed Petri net representation is proposed in this thesis, where the first layer is the representation of the intersection and the second layer is the representation of the traffic light system. Deterministic and stochastic transitions are both involved in such Petri net representation. The detailed operation process of such Petri net representation is stated. The improvement of such Petri net representation is also provided with comparison to previous models. Then we study the asynchronous monitoring of sensor networks. An event sequence reconstruction algorithm for a given sensor network based on asynchronous observations of its state changes is proposed in this thesis. We assume that the sensor network is modeled as a Petri net and the asynchronous observations are in the form of state (token) changes at different places in the Petri net. More specifically, the observed sequences of state changes are provided by local sensors and are asynchronous, i.e., they only contain partial information about the ordering of the state changes that occur. We propose an approach that is able to partition the given net into several subnets and reconstruct the event sequence for each subnet. Then we develop an algorithm that is able to reconstruct the event sequences for the entire net that are consistent with: 1) the asynchronous observations of state changes; 2) the event sequences of each subnet; and 3) the structure of the given Petri net. We discuss the algorithmic complexity. The final problem studied in this thesis is the optimal design method of Petri net controllers with fault-tolerant ability. In particular, we consider multiple faults detection and identification in Petri nets that have state machine structures (i.e., every transition in the net has only one input place and one output place). We develop the approximation algorithms to design the fault-tolerant Petri net controller which achieves the minimal number of connections with the original controller. A design example for an automated guided vehicle (AGV) system is also provided to illustrate our approaches.
Huang, Shih-Chieh, and 黃世杰. "Adaptive Routing Problem in Tandem Automated Guided Vehicle Systems." Thesis, 1993. http://ndltd.ncl.edu.tw/handle/86280736067530463596.
Full text駱國勝. "Analysis and design of tandem automated guided vehicle systems." Thesis, 1990. http://ndltd.ncl.edu.tw/handle/40607862911701481336.
Full textJacobs, Johannes Petrus. "Intelligent integration of an industrial robot and an automated guided vehicle." Thesis, 2011. http://hdl.handle.net/10210/4217.
Full textThis work describes the establishment of an intelligent control system on board an AGV for automatic adaptation to the motions and actions of industrial robots. The movements can represent an assembly sequence or material loading sequence. A relationship is established between the workspaces of the industrial robot and the AGV. The coordinate systems are integrated for the AGV to respond to the movements of the industrial robot in the correct way. The integration of these two different coordinate systems leads to the creation of a common workspace. Within this common workspace, the AGV interacts with the robot using the same reference points. The mathematical analysis and practical implementation of this transient workspace is described. The adaptive control presented allows for an intelligent decision making process to be performed on line with the use of an expert system.
XU, SHENG-XIANG, and 許昇翔. "Automated Guided Vehicle Development Using Deep Learning and Robotic Operating Systems." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/d6u663.
Full text國立臺北科技大學
機械工程系機電整合碩士班
107
AGV system integrated under ROS system. Combine navigation, obstacle avoidance, and construction of maps. Application of laser range finder to establish 2D map, inertial gyro to maintain AGV posture, ultrasonic information. And with Kinect to establish 3D maps and personnel identification. And use the information of the map to complete the automatic navigation function. And AGV is often in the same working environment as people in the environment. Therefore, this study introduces the deep learning results into the AGV. When the AGV encounters the learning goal during the navigation process, the AGV will stop walking. When the target leaves the detection range, the AGV will continue to travel to the target position. This study uses deep learning to improve the poor performance of traditional image detection people, thereby improving the obstacle avoidance mode of robots and replacing traditional images through deep learning. The developed AGV has an experimental error of 3.4 cm and an angular error of 7° and can complete SLAM and navigation and obstacle avoidance.
MA, XIN-YI, and 馬心怡. "A Petri-net model for gridlock detection in automated guided vehicle systems." Thesis, 1992. http://ndltd.ncl.edu.tw/handle/40909576968306909509.
Full text羅慶福. "A simulator to evaluating the performance of an automated guided vehide system." Thesis, 1987. http://ndltd.ncl.edu.tw/handle/83158820479390478798.
Full textMavungu, Masiala. "Nonlinear control of an autonomous vehicle." Thesis, 2014. http://hdl.handle.net/10210/9355.
Full textThis dissertation deals with the computation of nonlinear control strategies for an autonomous vehicle. The vehicle consists of two wheels attached to an axle. It is assumed that both wheels roll without slipping leading to nonholonomic constraints. A third order nonlinear kinematic model of the vehicle is derived from these constraints. It is further assumed that the vehicle has builtin feedback controllers independently regulating the rotational velocities of the wheels (using electric motors as actuators). Thus, the vehicle is maneuvered by applying a separate rotational velocity reference command to the feedback controller of each wheel. The closed loop system dynamics from the reference command to the wheel rotational velocity is approximately modelled by a first order system. This leads to a fifth order nonlinear state-space model for the vehicle. The above-mentioned reference commands constitute the control input variables of the vehicle model and are subject to amplitude constraints. Firstly, a methodology is developed for computing reference command strategies to drive the autonomous vehicle from a specified initial state to a desired final state in a given time and such that a circular obstacle is avoided. The vehicle performs the required maneuver whilst satisfying all the specifications and constraints. Secondly, feedback reference command laws are developed such that a specified point just ahead of the vehicle asymptotically tracks a given reference trajectory in the horizontal plane. The feedback control law steers the vehicle onto the reference path from any initial position and keeps it moving on the path. Thirdly, the stochastic system performance is evaluated when the above-mentioned tracking control strategy is applied and the initial state of the vehicle is a random vector.
Asbury, James. "Communication, mapping and navigational aspects for a free-ranging, automated guided vehicle." Thesis, 1992. http://hdl.handle.net/10413/9094.
Full textThesis (Ph.D.)-University of Natal, Durban, 1992.
Pancham, Ardhisha. "Variable sensor system for guidance and navigation of AGVs /." 2008. http://hdl.handle.net/10413/205.
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