Dissertations / Theses: 'Automated Guided Vehicle System'

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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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Fithian, Jeff E. "A laser-guided, autonomous automated guided vehicle." Thesis, Virginia Tech, 1993. http://hdl.handle.net/10919/42957.

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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.

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

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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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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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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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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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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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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
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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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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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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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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Sazonov, 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.

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Thesis (M.S.)--West Virginia University, 1999.
Title from document title page. Document formatted into pages; contains xiv, 429 p. : ill. (some col.). Vita. Includes abstract. Includes bibliographical references (p. 117-118).

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Crum, Joseph A. "Simulating a storage and retrieval system interfaced with an automated guided vehicle system." Ohio : Ohio University, 1987. http://www.ohiolink.edu/etd/view.cgi?ohiou1183042437.

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Church, 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.

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With the increase in electronic equipment implemented in various systems, as well as the increase in calculating power that these devices offer, designers are being empowered to make use of this power in real-time systems to diagnose and protect the systems themselves. This reasoning is too compounded by the focus on efficiency and safety in the design of complex systems, as well as the increasing expense and sensitivity of the electronic components themselves. With this in mind, this dissertation aims at developing a comprehensive measurement, control and reaction system for the electrical diagnosis and ultimately optimisation of complex electrical and electronic systems. This system will serve as a real-time diagnosis tool, which will enable the real-time diagnosis of various components in an electro-mechanical system, which can then be interpreted to determine the working state of the various components. Another sphere of this project will involve the accurate monitoring of the battery status as well as actively balancing the series connected batteries. The focus on the batteries will seek to prolong the life of the batteries, while being able to squeeze as much capacity out of them. The initial design and testing will be based on an AGV system implemented at VWSA, however a main goal throughout the design process will be modularity, i.e. the ease of implementation of this system in other systems. The key technologies used in the development of this system will still comprise of the components used in the original AGV, however new prototype components sourced from Microcare are used for the battery management system, while current sensors directly connected to the PLC’s analog input ports will be used for the active monitoring of currents distributed through the AGV.

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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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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.
Master of Science

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Wing, 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/.

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This dissertation examines the problems of scheduling and routing automated guided vehicles (AGVs). AGVs are unmanned vehicles following a network of guide paths controlled by a supervisory controller. They represent a highly flexible material moving system well suited to the developing technologies of advanced manufacturing. The research in this area is motivated by the importance of AGVs in modern factories and the inadequacies of current methods of control. These inadequacies include the lack of adequate temporal reasoning, production of vehicle schedules that support automated guided vehicle system (AGVS) rather than global manufacturing objectives, the inability to produce quickest routes for vehicles and the lack of dynamic replanning. Unlike conventional controllers of AGVs the AGV scheduler presented in this dissertation (PRISMM - Planner for Reactive Intelligent Scheduling of Material Movement) considers global manufacturing objectives as well as local AGVS objectives when generating AGV schedules. It exploits novel techniques for routing vehicles that uniquely allow the integration of the shortest or the quickest routes into a timetable of vehicle movements. The techniques guarantee to find a route if one exists and will allow the imposition of deadlines. Algorithms to find a fast route through large or extremely busy route networks have also been derived. These methods will guarantee to find a route between two points as long as the vehicle begins its journey from a reserved parking space. A replanning technique has been proposed for dealing with most common errors of AGV schedule execution. A new method for the most commonly encountered problem requires no reordering of plan steps.

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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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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.
M.S.

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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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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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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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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.

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Ye, 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.

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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
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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Lockwood, Stephen. "Design of an obstacle avoidance system for automated guided vehicles." Thesis, University of Huddersfield, 1992. http://eprints.hud.ac.uk/id/eprint/9285/.

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Most Industrial Automated Guided Vehicles CAGV s) follow fixed guide paths embedded in the floor or bonded to the floor surface. Whilst reliable in their basic operation, these AGV systems fail if unexpected obstacles are placed in the vehicle path. This can be a problem particularly in semi-automated factories where men and AGVs share the same environment. The perfonnance of line-guided AGVs may therefore be enhanced with a capability to avoid unexpected obstructions in the guide path. The research described in this thesis addresses some fundamental problems associated with obstacle avoidance for utomated vehicles. A new obstacle avoidance system has been designed which operates by detecting obstacles as they disturb a light pattern projected onto the floor ahead of the AGV. A CCD camera mounted under the front of the vehicle senses obstacles as they emerge into the projection area and reflect the light pattern. Projected light patterns have been used as an aid to static image analysis in the fields f Computer Aided Design and Engineering. This research extends these ideas in a real-time mobile application. A novel light coding system has been designed which simplifies the image analysis task and allows a low-cost embedded microcontroller to carry out the image processing, code recognition and obstacle avoidance planning functions. An AGV simulation package has been developed as a design tool for obstacle avoidance algorithms. This enables potential strategies to be developed in a high level language and tested via a Graphical User Interface. The algorithms designed using the simulation package were successfully translated to assembler language and implemented on the embedded system. An experimental automated vehicle has been designed and built as a test bed for the research and the complete obstacle avoidance system was evaluated in the Flexible Manufacturing laboratory at the University of Huddersfield.

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Banta, Larry Eugene. "Advanced dead reckoning navigation for mobile robots." Diss., Georgia Institute of Technology, 1987. http://hdl.handle.net/1853/19323.

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Decker, Michael Wilhelm. "Active acceleration compensation for transport of delicate objects." Thesis, Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/21258.

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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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Kurdziel, Michael Scott. "A monocular color vision system for road intersection detection /." Online version of thesis, 2008. http://hdl.handle.net/1850/6208.

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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
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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Scheding, Steven. "High integrity navigation." Phd thesis, Department of Mechanical and Mechatronic Engineering, 1998. http://hdl.handle.net/2123/6768.

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Pai, Arun S. "Development of deterministic collision-avoidance algorithms for routing automated guided vehicles /." Online version of thesis, 2008. http://hdl.handle.net/1850/7289.

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Flores, 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.

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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.

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Thesis (M. Tech. (Engineering: Electrical)) -- Central University of technology, Free State, 2013
In 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).

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Kim, Doosuk Mechanical &amp Manufacturing Engineering Faculty of Engineering UNSW. "Intelligent scheduling and control of automated guided vehicle considering machine loading in a flexible manufacturing system: using hopfield networks and simulation." Awarded by:University of New South Wales. School of Mechanical and Manufacturing Engineering, 2006. http://handle.unsw.edu.au/1959.4/29542.

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Flexible manufacturing systems (FMS) have received increasing attention from researchers and practitioners due to their potential advantages: quicker response to market changes, reduction in work-in-process (WIP), high inventory turnover and high levels of productivity. Two groups of problems in an FMS are of importance: (1) design problems and (2) operational problems. Operational problems can be effectively separated into 4 sub-problems: planning, grouping, machine loading problem (MLP) and scheduling. Problems from machine loading to scheduling and control of an FMS can be handled with neural networks approaches and simulation. The machine loading problem as a combinatorial optimization problem is actually a classic problem in operations research and is known to be NP-hard. MLP formulated as 0-1 integer programming problems has been solved by the methods of linearizing the nonlinear terms, branch and bound algorithm, and heuristic methods which have also been popularly applied. Hopfield Networks as a class of artificial neural networks have been adapted as an efficient method to solve the MLP, as these are able to find the solutions quickly through massive and parallel computation. Unfortunately, the quality of the solutions can occasionally be poor owing to the values of the weighting parameters in the energy function of the Hopfield Networks. One alternative approach used is to imbed mean field annealing into Hopfield Networks. The hybrid method of Hopfield Networks and mean field annealing can find near-optimal solutions as well as overcome the difficulties with decisions about the weighting of parameters in the energy function. The AGV scheduling problem can be regarded as the problem of selecting appropriate dispatch rules. Many dispatch rules have been introduced by a number of researchers. Even though vqarious formulations of the FMS scheduling problem can be presented, simulation methods are popular and often used. A solution methodology for MLP and AGV scheduling problems is proposed and specific models based on the literature are subjected to experimented through simulation. The proposed methodology can be also applied without difficulty to of breakdowns of machines and AGV. Results from simulation experiment s show that superior performance and capability of the proposed to existing methods are demonstrated by applying them to the test problems represented by simulation..

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Williams, Stefan Bernard. "Efficient solutions to autonomous mapping and navigation problems." Connect to full text, 2001. http://hdl.handle.net/2123/809.

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Thesis (Ph. D.)--University of Sydney, 2002.
Title 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.

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Kotze, 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.

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Thesis (M. Tech. (Engineering: Electrical)) -- Central University of technology, Free State, 2013
Automatic 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.

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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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43

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.

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44

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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45

Vaidya, Varun, and Kushal Bheemesh. "Adaptive Warning Field System." Thesis, Högskolan i Halmstad, CAISR Centrum för tillämpade intelligenta system (IS-lab), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-35312.

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This thesis is based on the work carried out in the field of safety systems for Autonomous Guided Vehicles(AGV). With autonomous vehicles being more prominent today, safe traversing of these is a major concern. The same is true for AGVs working in industry environment like forklift trucks etc. Our work applies to industrial robots. The method described here is developed by closely following an algorithm developed for safe traversing of a robot using a warning field. The report describes the literature review with work related to the safe traversing, path planning and collision avoidance in robots. The next part is dedicated to describing the methodology of implementation of the Adaptive Warning Field Method and the Dynamic Window Approach. The evaluation of the Adaptive Warning Method with the previous developed Warning Field Methods is done and test cases are designed to test the working of the designed method. Vrep simulation environment and Industrial data is used to run a simulation of the robot using the method developed in this work. We find that the method performs better compared to the previous methods in the designed scenarios. Lastly we conclude the report with the future work that can be carried out to improve and extend the algorithm.

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46

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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47

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.

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Orientador: Fernando Jose Von Zuben
Acompanha CD-ROM
Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação
Made available in DSpace on 2018-08-13T02:48:36Z (GMT). No. of bitstreams: 1 Cazangi_RenatoReder_D.pdf: 8716830 bytes, checksum: 272657e08f1aeb5622ebeb4412c49048 (MD5) Previous issue date: 2008
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

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48

Ting, Juu-Hwa, and 丁主華. "Cyclic Automated Guided Vehicle System Design." Thesis, 1993. http://ndltd.ncl.edu.tw/handle/97376212062756487761.

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碩士
中原大學
工業工程研究所
81
Automated guided vehicle systems have become widely used as primary material handling systems in modern automated manufacturing systems. Although the system possesses versatile flexibility in transportation routing and freely accessibility to all working spaces, there exists many complicated trafficking problems such as conflict, collision, congestion and deadlock, when multiple vehicles are running in the system. This thesis presents a new system model, called cyclic AGVS, to simplify both the system configuration and traffic control. By taking advantages of flexible routing of traditional systems and easier control of tandem systems, the cyclic AGVS improves the system performance while keeping the originality of using the flexible AGV transportation system. The design concept of a cyclic AGVS is based on a new vehicle dispatching strategy that is performed according to various transportation demands of a manufacturing system. Petri net theory has been verified to be a powerful modeling and verification tool in analyzing discrete- event systems. Complicated AGV trafficking problems can thus be resolved by modeling the cyclic AGVS as a Petri net model and using firing rules to simulate the system operation and result in deadlock free traffic control. To illustrate the design practice of a cyclic AGVS, this thesis proposes an integrated design procedure covering vehicle dispatching strategy, performance evaluation, and traffic control rules. In addition, a general simulation system written in C programming language for Petri net based cyclic AGV models is presented. Results of using cyclic AGVS are compared with these of traditional and single-loop systems. The result shows that using the presented cyclic AGVS not only preserves the routing flexibility of an AGV transportation system but also significantly improves the system performance.

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Wang, Hsin-chieh, and 王信傑. "Performance Management And Improvementfor Automated Guided Vehicle System." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/06881877735628397729.

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碩士
逢甲大學
工業工程與系統管理學研究所
94
Recently, industry technology has developed rapidly. And competition has been raising. In order to achieve high productivity, decrease production cost, and improve product quality, flexible manufacturing system(FMS) and computer integrated manufacturing system(CIMS) will become the mainstream. In the manufacturing systems, automated material handling system(AMHS) plays an important role to control material flow. Automation guided vehicle system(AGVS) is a major equipment among all AMHSs. In general, the researches in AGVS are classified into 5 categories: (1)the optimum of vehicle numbers, (2)the decision of guide path direction, (3)the arrangement of vehicle dispatch logic, (4)traffic flow control, and (5)system combination. However since the high position managers of the factory are not surely familiar with the related researches, this paper would propose some key performance indicators(KPI) for AGVS for the high position managers to be able to manage the efficiency of the production line easily through using these indicators. By analyzing the main factors which cause the poor KPI, we can find the way to raise KPI. Finally, the DMAIC(define, measure, analysis, improve, control) method will be employed to analysis and locate the problems encountered in the AGVS, and the improvement will be accomplished at the last.

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50

張敬旻. "Facility Layout for an Automated Guided Vehicle System." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/09937135775604368338.

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Dissertations / Theses on the topic 'Automated Guided Vehicle System'

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