Journal articles: 'Autonomous guided vehicles'

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Lau, Henry Y. K., Vicky W. K. Wong, and Ivan S. K. Lee. "Immunity-based autonomous guided vehicles control." Applied Soft Computing 7, no. 1 (January 2007): 41–57. http://dx.doi.org/10.1016/j.asoc.2005.02.003.

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Vida, Gábor, and Péter Váradi. "Irregular operation of autonomous vehicles." Production Engineering Archives 20, no. 20 (September 1, 2018): 8–11. http://dx.doi.org/10.30657/pea.2018.20.02.

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Abstract Today, with the spread of autonomous functions in vehicles, the role accountability for causing accidents is emphasized. Self-guided functions work in certain traffic situations, but accidents happen, and, therefore, the following article presents an analysis of the issue. Its purpose is to show that vehicles with self-drive functionality do not provide the driver's level of safety that vehicle manufacturers suggest. In this article, four recent events and an analysis whether these accidents could have been avoided a human driver or how they could have happened with appropriate self-drive function. In each of the investigated cases, vehicles equipped with self-drive function are involved. Based on the evaluation and assessment of accidents, conclusions are drawn whether current self-propelled vehicles provide the safety level that drivers and society expect from these vehicles. The reconstruction of the accident process is illustrated with the help of a vehicle simulation program, with the resultant parameters being given a special emphasis, in particular to the avoidance of the accident.

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TSUMURA, Toshihiro. "Positioning Technologies for Autonomous Vehicles. Positioning of Automated Guided Vehicle." Journal of the Japan Society for Precision Engineering 65, no. 10 (1999): 1398–401. http://dx.doi.org/10.2493/jjspe.65.1398.

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Hjalmarsson-Jordanius, Anders, Mikael Edvardsson, Martin Romell, Johan Isacson, Carl-Johan Aldén, and Niklas Sundin. "Autonomous Transport: Transforming Logistics through Driverless Intelligent Transportation." Transportation Research Record: Journal of the Transportation Research Board 2672, no. 7 (September 17, 2018): 24–33. http://dx.doi.org/10.1177/0361198118796968.

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How can autonomous technology be used beyond end-customer autonomous driving features? This position paper addresses this problem by exploring a novel autonomous transport solution applied in the automotive logistics domain. We propose that factory-complete cars can be transformed to become their own autonomous guided vehicles and thus transport themselves when being moved from the factory for shipment. Cars equipped with such a system are driverless and use an onboard autonomous transport solution combined with the advanced driver assistance systems pre-installed in the car for end-customer use. The solution uses factory-equipped sensors as well as the connectivity infrastructure installed in the car. This means that the solution does not require any extra components to enable the car to transport itself autonomously to complete a transport mission in the logistics chain. The solution also includes an intelligent off-board traffic control system that defines the transport mission and manages the interaction between vehicles during systems operation. A prototype of the system has been developed which was tested successfully in live trials at the Volvo Car Group plant in Gothenburg Sweden in 2017. In the paper, autonomous transport is positioned in between autonomous guided vehicles and autonomous driving technology. A review of the literature on autonomous vehicle technology offers contextual background to this positioning. The paper also presents the solution and displays lessons learned from the live trials. Finally, other use areas are introduced for driverless autonomous transport beyond the automotive logistics domain that is the focus of this paper.

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Curiel-Ramirez, Luis A., Ricardo A. Ramirez-Mendoza, Rolando Bautista-Montesano, M. Rogelio Bustamante-Bello, Hugo G. Gonzalez-Hernandez, Jorge A. Reyes-Avedaño, and Edgar Cortes Gallardo-Medina. "End-to-End Automated Guided Modular Vehicle." Applied Sciences 10, no. 12 (June 26, 2020): 4400. http://dx.doi.org/10.3390/app10124400.

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Autonomous Vehicles (AVs) have caught people’s attention in recent years, not only from an academic or developmental viewpoint but also because of the wide range of applications that these vehicles may entail, such as intelligent mobility and logistics, as well as for industrial purposes, among others. The open literature contains a variety of works related to the subject. They employ a diversity of techniques ranging from probabilistic to ones based on Artificial Intelligence. The increase in computing capacity, well known to many, has opened plentiful opportunities for the algorithmic processing needed by these applications, making way for the development of autonomous navigation, in many cases with astounding results. The following paper presents a low-cost but high-performance minimal sensor open architecture implemented in a modular vehicle. It was developed in a short period of time, surpassing many of the currently available solutions found in the literature. Diverse experiments were carried out in the controlled and circumscribed environment of an autonomous circuit that demonstrates the efficiency of the applicability of the developed solution.

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Scholz, Michael, Xu Zhang, and Jörg Franke. "Implementation of an Intralogistics Routing-Service Basing on Decentralized Workspace Digitization." Applied Mechanics and Materials 882 (July 2018): 90–95. http://dx.doi.org/10.4028/www.scientific.net/amm.882.90.

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The paper presents an intralogistics routing-service for autonomous and versatile transport vehicles. An infrastructural sensor digitize the workspace of the vehicle and is the basis for the vehicle-specific routing plan. Nowadays, a central computing unit allocates transportation task to a known number of automated guided vehicles, which are usually of the same type. Furthermore, this device generates a routing appropriate to the dimensions and the kinematic gauge of the vehicle fleet. The pathing for each specific vehicle is calculated and the result is send to the different entities. The approach of this paper bases on the digitization of the workspace with a ceiling camera, which divides the scenery into moving obstacles and an adaptive background picture. A central computing unit receives the background picture of several cameras and stitch them together to an overview of the entire workspace, e.g. a production hall. Furthermore, the approach includes the development of automated guided vehicles to versatile autonomous vehicles, were each entity is able to calculate the pathing on a given routing plan. A fleet of versatile autonomous vehicles consists of vehicles with task-specific dimensions and kinematic gauges. Therefore, each vehicle needs its own routing-plan. The solution is that each vehicles uses a vehicle parameter-server and register itself with these parameters at the routing unit. This unit is calculating a routing-plan for each specific vehicle dimension and gauge and providing it. When getting a new task, the vehicles uses this routing-plan to do the pathing. The routing-algorithm is implemented inside the service-layer of the versatile autonomous vehicle system. This approach lowers the amount of data, which is send between the service layer and the transportation entities by reducing the information of the workspace to the possible routes of each specific vehicle. Furthermore, the calculation time for routing and pathing is lowered, because each vehicle is calculating its task-specific path, but the route-map is calculated once for each vehicle-type by the routing-service.

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Xidias, Elias K., and Philip N. Azariadis. "Mission design for a group of autonomous guided vehicles." Robotics and Autonomous Systems 59, no. 1 (January 2011): 34–43. http://dx.doi.org/10.1016/j.robot.2010.10.003.

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Mueller, H., H. Neubauer, and D. A. Mlynski. "Path Assignment to a Set of Autonomous Guided Vehicles." IFAC Proceedings Volumes 21, no. 16 (October 1988): 267–70. http://dx.doi.org/10.1016/s1474-6670(17)54621-2.

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Berman, S., Y. Edan, and Mo Jamshidi. "Navigation of decentralized autonomous automatic guided vehicles in material handling." IEEE Transactions on Robotics and Automation 19, no. 4 (August 2003): 743–49. http://dx.doi.org/10.1109/tra.2003.814513.

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Sylvester Tlale, Nkgatho. "On distributed mechatronics controller for omni‐directional autonomous guided vehicles." Industrial Robot: An International Journal 33, no. 4 (July 2006): 278–84. http://dx.doi.org/10.1108/01439910610667890.

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Pham, Quang Ha, Ngoc Huy Tran, and Thien Phuong Ton. "Design and Control of Automated Guided Vehicle." Applied Mechanics and Materials 902 (September 2020): 33–42. http://dx.doi.org/10.4028/www.scientific.net/amm.902.33.

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Autonomous Guided Vehicles (AGV) have the ability to operate on their own, perform tasks without human intervention. However, the investment cost is very high, so it is not suitable for countries with cheap workers like Vietnam. Therefore, this article will aim to build a complete AGV model that can move to the given coordinates. Model of AGV is 6-wheeled vehicles driven by 4 engines with the advantage of good movement in soft terrain, subsidence, ruggedness, slope, easy to balance and limit the vibration. Furthermore, we propose a method to improve the quality of the traditional A* algorithm by eliminating unnecessary intermediate points, which is Shortcut Path Reduction (SPR). Experimental results show that the vehicle can perform the bending technique, following straight lines and broken lines. Besides, the SPR not only met the requirements but also reduced the length of the journey.

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Fazlollahtabar, Hamed. "Lagrangian relaxation method for optimizing delay of multiple autonomous guided vehicles." Transportation Letters 10, no. 6 (October 17, 2017): 354–60. http://dx.doi.org/10.1080/19427867.2017.1386871.

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Fazlollahtabar, Hamed, and Samaneh Hassanli. "Hybrid cost and time path planning for multiple autonomous guided vehicles." Applied Intelligence 48, no. 2 (July 19, 2017): 482–98. http://dx.doi.org/10.1007/s10489-017-0997-x.

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Anand, Rao, Nihal Vishnu Vantagodi, Kartik A. Shanbhag, and M. Mahesh. "Automated Guided Vehicles by Permanent Magnet Synchronous Motor: Future of In-house Logistics." Power Electronics and Drives 4, no. 1 (June 1, 2019): 151–59. http://dx.doi.org/10.2478/pead-2019-0006.

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AbstractMaterial handling and logistics management that involve transportation of work pieces on production floor are important aspects to manufacturing that affect productivity and efficiency. Tow vehicles that are manually driven are currently used for this purpose. These processes can be better performed through automation. Automated guided vehicle (AGV) is an apt solution. AGVs are unmanned autonomous vehicles that can be programmed to perform versatile tasks. AGVs available in market are imported and hence have high capital cost and increased lead time for spare parts. Proposed AGV is built with a capital cost that is less than half of the existing AGVs. Its design is made indigenously, with most of its parts locally sourced. It can achieve a speed of 0.83 m/s, with a pulling capacity of 1,300 kg. Its rechargeable batteries sustain four hours of continuous operation for one complete discharge. It has been tested and found to effectively replace tow vehicles.

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Kathen, Micaela Jara Ten, Isabel Jurado Flores, and Daniel Gutiérrez Reina. "An Informative Path Planner for a Swarm of ASVs Based on an Enhanced PSO with Gaussian Surrogate Model Components Intended for Water Monitoring Applications." Electronics 10, no. 13 (July 4, 2021): 1605. http://dx.doi.org/10.3390/electronics10131605.

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Controlling the water quality of water supplies has always been a critical challenge, and water resource monitoring has become a need in recent years. Manual monitoring is not recommended in the case of large water surfaces for a variety of reasons, including expense and time consumption. In the last few years, researchers have proposed the use of autonomous vehicles for monitoring tasks. Fleets or swarms of vehicles can be deployed to conduct water resource explorations by using path planning techniques to guide the movements of each vehicle. The main idea of this work is the development of a monitoring system for Ypacarai Lake, where a fleet of autonomous surface vehicles will be guided by an improved particle swarm optimization based on the Gaussian process as a surrogate model. The purpose of using the surrogate model is to model water quality parameter behavior and to guide the movements of the vehicles toward areas where samples have not yet been collected; these areas are considered areas with high uncertainty or unexplored areas and areas with high contamination levels of the lake. The results show that the proposed approach, namely the enhanced GP-based PSO, balances appropriately the exploration and exploitation of the surface of Ypacarai Lake. In addition, the proposed approach has been compared with other techniques like the original particle swarm optimization and the particle swarm optimization with Gaussian process uncertainty component in a simulated Ypacarai Lake environment. The obtained results demonstrate the superiority of the proposed enhanced GP-based PSO in terms of mean square error with respect to the other techniques.

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Mercy, Tim, Ruben Van Parys, and Goele Pipeleers. "Spline-Based Motion Planning for Autonomous Guided Vehicles in a Dynamic Environment." IEEE Transactions on Control Systems Technology 26, no. 6 (November 2018): 2182–89. http://dx.doi.org/10.1109/tcst.2017.2739706.

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Savkin, Andrey V., and Chao Wang. "A framework for safe assisted navigation of semi-autonomous vehicles among moving and steady obstacles." Robotica 35, no. 5 (January 22, 2016): 981–1005. http://dx.doi.org/10.1017/s0263574715000922.

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SUMMARYWe present a novel framework for collision free assisted navigation of a semi-autonomous vehicle in complex unknown environments with moving and steady obstacles. In the proposed system, a semi-autonomous vehicle is guided by a human operator and an automatic reactive navigator. The autonomous reactive navigation block takes control from the human operator in situations where there is the danger of collision with obstacle. A mathematically rigorous analysis of the proposed approach is provided. The performance of the proposed assisted navigation system is demonstrated via experiments with a real semi-autonomous hospital bed and extensive computer simulations.

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Lee, Rachel M., Leonard Campanello, Matt J. Hourwitz, Phillip Alvarez, Ava Omidvar, John T. Fourkas, and Wolfgang Losert. "Quantifying topography-guided actin dynamics across scales using optical flow." Molecular Biology of the Cell 31, no. 16 (July 21, 2020): 1753–64. http://dx.doi.org/10.1091/mbc.e19-11-0614.

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Two cell types with different migratory behaviors both exhibit guided actin polymerization along nanoscale ridge textures. Optical flow, a tool used in autonomous vehicles and facial recognition, is adapted for fluorescence imaging. The power of optical flow as a tool for future studies of intracellular dynamics is demonstrated.

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Simon, Ralph, Stefan Rupitsch, Markus Baumann, Huan Wu, Herbert Peremans, and Jan Steckel. "Bioinspired sonar reflectors as guiding beacons for autonomous navigation." Proceedings of the National Academy of Sciences 117, no. 3 (January 6, 2020): 1367–74. http://dx.doi.org/10.1073/pnas.1909890117.

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Sonar sensors are universally applied in autonomous vehicles such as robots and driverless cars as they are inexpensive, energy-efficient, and provide accurate range measurements; however, they have some limitations. Their measurements can lead to ambiguous estimates and echo clutter can hamper target detection. In nature, echolocating bats experience similar problems when searching for food, especially if their food source is close to vegetation, as is the case for gleaning bats and nectar-feeding bats. However, nature has come up with solutions to overcome clutter problems and acoustically guide bats. Several bat-pollinated plants have evolved specially shaped floral parts that act as sonar reflectors, making the plants acoustically conspicuous. Here we show that artificial sonar beacons inspired by floral shapes streamline the navigation efficacy of sonar-guided robot systems. We developed floral-inspired reflector forms and demonstrate their functionality in 2 proof-of-principle experiments. First we show that the reflectors are easily recognized among dense clutter, and second we show that it is possible to discern different reflector shapes and use this identification to guide a robot through an unfamiliar environment. Bioinspired sonar reflectors could have a wide range of applications that could significantly advance sonar-guided systems.

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Norton, Thomas A., Melissa Ruhl, Tim Armitage, Brian Matthews, and John Miles. "Cross-National Focus Group Response to Autonomous Vehicles." Transportation Research Record: Journal of the Transportation Research Board 2675, no. 6 (March 3, 2021): 339–51. http://dx.doi.org/10.1177/0361198121992363.

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The development of autonomous vehicles (AVs) is advancing quickly in some enclaves around the world. Consequently, AVs exist in the public consciousness, featuring regularly in mainstream media. As the form and function of AVs emerge, the attitudes of potential users become more important. The extent to which the public trusts AV technology and anticipates benefits, will drive consumer willingness to use AVs. Broadly, public attitudes will determine whether AVs can attract public investment in infrastructure and become a feature of the future transport mix or fail to realize the potential their developers assert. As part of UK Autodrive, a program trialing the introduction of AVs in the United Kingdom, researchers conducted focus groups in five UK cities, and a comparison focus group in San Francisco (December 2017 to September 2018) using representative samples (total n = 137). Focus group facilitators guided discussions in three areas considered central to usage decisions: trust in the technology, ownership models, and community benefit. This paper describes findings from a quasi-quantitative study supported with qualitative insights. This research provides three key takeaways centering on trust in the technology and in delivering benefit. First, some participants gain trust through experience and others through evidence. Second, participants had difficulty discriminating between AV developers, indicating a need for industry cooperation. Third, partnerships were found to demonstrate trust, highlighting the need for more and deeper partnerships moving forward. Generally, participants had positive attitudes toward AVs and expect AVs to provide benefits. However, these attitudes and expectations could change as AV development progresses.

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Teso-Fz-Betoño, Daniel, Ekaitz Zulueta, Unai Fernandez-Gamiz, Iñigo Aramendia, and Irantzu Uriarte. "A Free Navigation of an AGV to a Non-Static Target with Obstacle Avoidance." Electronics 8, no. 2 (February 1, 2019): 159. http://dx.doi.org/10.3390/electronics8020159.

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The industry is changing in order to improve the economy sector. This is the reason why technology is improving and developing new devices. The autonomous guided vehicle with free navigation is a new machine, which uses different techniques to move such as mapping, localization, path planning, and path following. In this paper, a path following is proposed. The path following is called moving to a point, which uses the proportional distance between the target and the autonomous guided vehicles (AGV) to calculate the velocity and direction. If some obstacles appear in the trajectory, however, the vehicle stops. Instead of stopping the machine, by using moving to a point logic, an obstacle avoidance function will be implemented. In this implementation, different parameters can be configured, such as: security distance, which determinates when the obstacle avoidance must correct the pose; and proportional values, which modify the velocity and steering commands. It is also compared to a dynamic window approach (DWA) obstacle avoidance solution. Additionally, the AGV navigates to a non-static target with a path following algorithm.

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Wang, Wei, Yaohua Wu, Zhenyu Jiang, and Jiahui Qi. "A Clutter-Resistant SLAM Algorithm for Autonomous Guided Vehicles in Dynamic Industrial Environment." IEEE Access 8 (2020): 109770–82. http://dx.doi.org/10.1109/access.2020.3001756.

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Harris, C. J., and C. G. Moore. "Intelligent identification and control for autonomous guided vehicles using adaptive fuzzy-based algorithms." Engineering Applications of Artificial Intelligence 2, no. 4 (December 1989): 267–85. http://dx.doi.org/10.1016/0952-1976(89)90013-4.

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Castorena, Juan, Gintaras V. Puskorius, and Gaurav Pandey. "Motion Guided LiDAR-Camera Self-calibration and Accelerated Depth Upsampling for Autonomous Vehicles." Journal of Intelligent & Robotic Systems 100, no. 3-4 (August 7, 2020): 1129–38. http://dx.doi.org/10.1007/s10846-020-01233-w.

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Zamora-Cadenas, Leticia, Igone Velez, and J. Enrique Sierra-Garcia. "UWB-Based Safety System for Autonomous Guided Vehicles Without Hardware on the Infrastructure." IEEE Access 9 (2021): 96430–43. http://dx.doi.org/10.1109/access.2021.3094279.

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Graba, Massinissa, Sousso Kelouwani, Lotfi Zeghmi, Ali Amamou, Kodjo Agbossou, and Mohammad Mohammadpour. "Investigating the Impact of Energy Source Level on the Self-Guided Vehicle System Performances, in the Industry 4.0 Context." Sustainability 12, no. 20 (October 15, 2020): 8541. http://dx.doi.org/10.3390/su12208541.

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Automated industrial vehicles are taking an imposing place by transforming the industrial operations, and contributing to an efficient in-house transportation of goods. They are expected to bring a variety of benefits towards the Industry 4.0 transition. However, Self-Guided Vehicles (SGVs) are battery-powered, unmanned autonomous vehicles. While the operating durability depends on self-path design, planning energy-efficient paths become crucial. Thus, this paper has no concrete contribution but highlights the lack of energy consideration of SGV-system design in literature by presenting a review of energy-constrained global path planning. Then, an experimental investigation explores the long-term effect of battery level on navigation performance of a single vehicle. This experiment was conducted for several hours, a deviation between the global trajectory and the ground-true path executed by the SGV was observed as the battery depleted. The results show that the mean square error (MSE) increases significantly as the battery’s state-of-charge decreases below a certain value.

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Han, Peng, and Bingyu Zhang. "Path Planning and Trajectory Tracking Strategy of Autonomous Vehicles." Mathematical Problems in Engineering 2021 (January 31, 2021): 1–11. http://dx.doi.org/10.1155/2021/8865737.

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With the development of global urbanization and the construction of regional urbanization, residents around urban cities are increasingly making demands on urban public transportation system. A new kind of modern public transportation vehicle named Multi-Articulated Guided Vehicle based on Virtual Track (MAAV-VT) with the advantages of beautiful, smart energy conservation and environmental protection is proposed in this paper, which aims at optimizing the public transportation system between and within urban areas. Therefore, concentrating on the general design and control strategy, the main contents of this paper are as follows. At first, the design concepts and key technologies of MAAV-VT are introduced. It is the fusion of urban rail transit operation mode and advanced automotive technologies, which have the characteristics of 100% low-floor, medium to high velocity, medium to big capacity, and low construction cost. Then, as the core subsystem, to guarantee the properties of self-guiding and trajectory tracking of the new vehicle, this paper is focused on the control system based on the dynamics and kinematics model of the whole multi-articulated vehicle. The multi-trace-points cooperative trajectory tracking control strategy on the basis of the circulation of feasible path generation method is proposed and the lateral controller is designed for trajectory tracking. The process of feasible path generation is conducted once the tracking error exceeded. A simulation platform is built considering the mechanical properties of each vehicle element and the characteristic of articulated mechanism. Finally, the function of control system is validated. The tracking error of each vehicle elements would be reduced to make sure the whole multi-articulated vehicle moves along the preset virtual track.

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Song, Mengxuan, Nan Wang, Timothy Gordon, and Jun Wang. "Flow-field guided steering control for rigid autonomous ground vehicles in low-speed manoeuvring." Vehicle System Dynamics 57, no. 8 (September 3, 2018): 1090–107. http://dx.doi.org/10.1080/00423114.2018.1512715.

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Gutiérrez, Rodrigo, Elena López-Guillén, Luis M. Bergasa, Rafael Barea, Óscar Pérez, Carlos Gómez-Huélamo, Felipe Arango, Javier del Egido, and Joaquín López-Fernández. "A Waypoint Tracking Controller for Autonomous Road Vehicles Using ROS Framework." Sensors 20, no. 14 (July 21, 2020): 4062. http://dx.doi.org/10.3390/s20144062.

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Automated Driving Systems (ADSs) require robust and scalable control systems in order to achieve a safe, efficient and comfortable driving experience. Most global planners for autonomous vehicles provide as output a sequence of waypoints to be followed. This paper proposes a modular and scalable waypoint tracking controller for Robot Operating System (ROS)-based autonomous guided vehicles. The proposed controller performs a smooth interpolation of the waypoints and uses optimal control techniques to ensure robust trajectory tracking even at high speeds in urban environments (up to 50 km/h). The delays in the localization system and actuators are compensated in the control loop to stabilize the system. Forward velocity is adapted to path characteristics using a velocity profiler. The controller has been implemented as an ROS package providing scalability and exportability to the system in order to be used with a wide variety of simulators and real vehicles. We show the results of this controller using the novel and hyper realistic CARLA Simulator and carrying out a comparison with other standard and state-of-art trajectory tracking controllers.

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KYAW, Ye Ko, Ekaterina L. KUZNETSOVA, and Alexander V. MAKARENKO. "Complex mathematical modelling of mechatronic modules of promising mobile objects." INCAS BULLETIN 12, S (July 28, 2020): 91–98. http://dx.doi.org/10.13111/2066-8201.2020.12.s.8.

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The characteristics of power sources affect the performance of autonomous electrically driven systems, such as unmanned aerial vehicles, aircraft missiles, guided bombs, torpedoes, space and aerospace vehicles, controlled gliding parachutes. The creation of control systems for the aircraft flight control surfaces of autonomous mobile objects is an urgent topic in modern research. This article provides how a mathematical model based on integrated approach is developed for an energy-efficient mechatronic module for control systems of promising mobile objects powered by various current sources; a comparison of the energy and dynamic characteristics of mechatronic modules of promising mobile objects for various power options is made. As a result, a new type of integrated power-supply source based on capacitive energy storage with floating charge from a primary chemical source of current has been developed. The proposed approaches, dependencies and algorithms can be used in the design of highly efficient mechatronic control algorithms for autonomous mobile objects of a new generation.

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Tang, Jiayu, Xiangmin Li, Jinjin Dai, and Ning Bo. "A Case based Online Trajectory Planning Method of Autonomous Unmanned Combat Aerial Vehicles with Weapon Release Constraints." Defence Science Journal 70, no. 4 (July 13, 2020): 374–82. http://dx.doi.org/10.14429/dsj.70.15040.

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As a challenging and highly complex problem, the trajectory planning for unmanned combat aerial vehicle (UCAV) focuses on optimising flight trajectory under such constraints as kinematics and complicated battlefield environment. An online case-based trajectory planning strategy is proposed in this study to achieve rapid control variables solution of UCAV flight trajectory for the of delivery airborne guided bombs. Firstly, with an analysis of the ballistic model of airborne guided bombs, the trajectory planning model of UCAVs is established with launch acceptable region (LAR) as a terminal constraint. Secondly, a case-based planning strategy is presented, which involves four cases depending on the situation of UCAVs at the current moment. Finally, the feasibility and efficiency of the proposed planning strategy is validated by numerical simulations, and the results show that the presented strategy is suitable for UCAV performing airborne guided delivery missions in dynamic environments.

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Vaquero, Victor, Ely Repiso, and Alberto Sanfeliu. "Robust and Real-Time Detection and Tracking of Moving Objects with Minimum 2D LiDAR Information to Advance Autonomous Cargo Handling in Ports." Sensors 19, no. 1 (December 29, 2018): 107. http://dx.doi.org/10.3390/s19010107.

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Detecting and tracking moving objects (DATMO) is an essential component for autonomous driving and transportation. In this paper, we present a computationally low-cost and robust DATMO system which uses as input only 2D laser rangefinder (LRF) information. Due to its low requirements both in sensor needs and computation, our DATMO algorithm is meant to be used in current Autonomous Guided Vehicles (AGVs) to improve their reliability for the cargo transportation tasks at port terminals, advancing towards the next generation of fully autonomous transportation vehicles. Our method follows a Detection plus Tracking paradigm. In the detection step we exploit the minimum information of 2D-LRFs by segmenting the elements of the scene in a model-free way and performing a fast object matching to pair segmented elements from two different scans. In this way, we easily recognize dynamic objects and thus reduce consistently by between two and five times the computational burden of the adjacent tracking method. We track the final dynamic objects with an improved Multiple-Hypothesis Tracking (MHT), to which special functions for filtering, confirming, holding, and deleting targets have been included. The full system is evaluated in simulated and real scenarios producing solid results. Specifically, a simulated port environment has been developed to gather realistic data of common autonomous transportation situations such as observing an intersection, joining vehicle platoons, and perceiving overtaking maneuvers. We use different sensor configurations to demonstrate the robustness and adaptability of our approach. We additionally evaluate our system with real data collected in a port terminal the Netherlands. We show that it is able to accomplish the vehicle following task successfully, obtaining a total system recall of more than 98% while running faster than 30 Hz.

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Nguyen, Phuc Thanh-Thien, Shao-Wei Yan, Jia-Fu Liao, and Chung-Hsien Kuo. "Autonomous Mobile Robot Navigation in Sparse LiDAR Feature Environments." Applied Sciences 11, no. 13 (June 26, 2021): 5963. http://dx.doi.org/10.3390/app11135963.

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In the industrial environment, Autonomous Guided Vehicles (AGVs) generally run on a planned route. Among trajectory-tracking algorithms for unmanned vehicles, the Pure Pursuit (PP) algorithm is prevalent in many real-world applications because of its simple and easy implementation. However, it is challenging to decelerate the AGV’s moving speed when turning on a large curve path. Moreover, this paper addresses the kidnapped-robot problem occurring in spare LiDAR environments. This paper proposes an improved Pure Pursuit algorithm so that the AGV can predict the trajectory and decelerate for turning, thus increasing the accuracy of the path tracking. To solve the kidnapped-robot problem, we use a learning-based classifier to detect the repetitive pattern scenario (e.g., long corridor) regarding 2D LiDAR features for switching the localization system between Simultaneous Localization And Mapping (SLAM) method and Odometer method. As experimental results in practice, the improved Pure Pursuit algorithm can reduce the tracking error while performing more efficiently. Moreover, the learning-based localization selection strategy helps the robot navigation task achieve stable performance, with 36.25% in completion rate more than only using SLAM. The results demonstrate that the proposed method is feasible and reliable in actual conditions.

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Fazlollahtabar, Hamed. "Parallel autonomous guided vehicle assembly line for a semi-continuous manufacturing system." Assembly Automation 36, no. 3 (August 1, 2016): 262–73. http://dx.doi.org/10.1108/aa-08-2015-065.

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Purpose This paper aims to propose a parallel automated assembly line system to produce multiple products in a semi-continuous system. Design/methodology/approach The control system developed in this research consists of a manufacturing system for two-level hierarchical dynamic decisions of autonomous/automated/automatic-guided vehicles (AGVs) dispatching/next station selection and machining schedules and a station control scheme for operational control of machines and components. In this proposed problem, the assignment of multiple AGVs to different assembly lines and the semi-continuous stations is a critical objective. AGVs and station scheduling decisions are made at the assembly line level. On the other hand, component and machining resource scheduling are made at the station level. Findings The proposed scheduler first decomposes the dynamic scheduling problems into a static AGV and machine assignment during each short-term rolling window. It optimizes weighted completion time of tasks for each short-term window by formulating the task and resource assignment problem as a minimum cost flow problem during each short-term scheduling window. A comprehensive decision making process and heuristics are developed for efficient implementation. A simulation study is worked out for validation. Originality/value Several assembly lines are configured to produce multiple products in which the technologies of machines are shared among the assembly lines when required. The sequence of stations is pre-specified in each assembly line and the components of a product are kept in machine magazine. The transportation between the stations in an assembly line (intra assembly line) and among stations in different assembly lines (inter assembly line) are performed using AGVs.

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Yamamoto, Hidehiko, and Takayoshi Yamada. "Intelligent AGV Control of Autonomous Decentralized FMS by Oblivion and Memory." Key Engineering Materials 447-448 (September 2010): 326–30. http://dx.doi.org/10.4028/www.scientific.net/kem.447-448.326.

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This paper describes a method to control Autonomous decentralized Flexible Manufacturing System (AD-FMS) by using a memory to determine a priority ranking for competing hypotheses. The aim is to increase the reasoning efficiency of a system the author calls reasoning to anticipate the future (RAF) which controls automatic guided vehicles (AGVs) in AD-FMSs. The system includes memory data of past production conditions and AGV actions. The system was applied to an AD-FMS that was constructed on a computer. The results showed that, compared with conventional reasoning, this reasoning system reduced the number of hypothesis replacements until a true hypothesis was reached.

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Davis, B. C., and D. M. Lane. "Guided construction of testing scenarios for autonomous underwater vehicles using the augmented-reality framework and JavaBeans." Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment 224, no. 3 (May 14, 2010): 173–91. http://dx.doi.org/10.1243/14750902jeme195.

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Lin, Sheng-Feng, and Cheng-Huan Chen. "Optical Design of Compact Space Autonomous Docking Instrument with CMOS Image Sensor and All Radiation Resistant Lens Elements." Applied Sciences 10, no. 15 (July 31, 2020): 5302. http://dx.doi.org/10.3390/app10155302.

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Built-in autonomous stereo vision devices play a critical role in the autonomous docking instruments of space vehicles. Traditional stereo cameras for space autonomous docking use charge-coupled device (CCD) image sensors, and it is difficult for the overall size to be reduced due to the size of the CCD. In addition, only the few outermost elements of the camera lens use radiation-resistant optical glass material. In this paper, a complementary metal–oxide semiconductor (CMOS) device is used as the image sensor, and radiation-resistant optical glass material is introduced to all lens elements in order to make a compact and highly reliable space grade instrument. Despite the limited available material, a fixed focus module with 7 lens elements and overall length of 42 mm has been achieved, while meeting all the required performance demands for the final vision-guided docking process.

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Takita, Yoshihiro. "Generated Trajectory of Extended Lateral Guided Sensor Steering Mechanism for Steered Autonomous Vehicles in Real World Environments." Journal of Robotics and Mechatronics 29, no. 4 (August 20, 2017): 660–67. http://dx.doi.org/10.20965/jrm.2017.p0660.

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This paper discusses the generated trajectory of an extended lateral guided sensor steering mechanism (SSM) method for a steered autonomous vehicle moving in a real world environment. In a previous study, an extended SSM was applied to the Smart Dump 9 and AR Chair robots for following preset waypoints on a map. These studies showed only the schematic idea of the method; the precise performance of the generated trajectory was not shown. This paper compares the Smart Dump 9 robot with a newly developed AR Skipper robot; these robots participated in the Tsukuba Challenge in 2015 and 2016, respectively. Finally, experimental data from the Tsukuba Challenge 2016 demonstrates the advantages of the extended SSM and developed control system.

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Cecco, Mariolino De. "Sensor fusion of inertial-odometric navigation as a function of the actual manoeuvres of autonomous guided vehicles." Measurement Science and Technology 14, no. 5 (April 4, 2003): 643–53. http://dx.doi.org/10.1088/0957-0233/14/5/316.

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Peng, Zhouhua, Dan Wang, Yang Shi, Hao Wang, and Wei Wang. "Containment control of networked autonomous underwater vehicles with model uncertainty and ocean disturbances guided by multiple leaders." Information Sciences 316 (September 2015): 163–79. http://dx.doi.org/10.1016/j.ins.2015.04.025.

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Joshi, Prayansh Shsank. "Autonomous Stair Climbing Robot." International Journal for Research in Applied Science and Engineering Technology 9, no. VII (July 25, 2021): 2188–203. http://dx.doi.org/10.22214/ijraset.2021.36816.

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An autonomous robot, also known as simply an autorobot or autobot, is a robot that performs behaviors or tasks with a high degree of autonomy. Autonomous robotics is usually considered to be a subfield of artificial intelligence, robotics, and information engineering. Specifically, “autonomous robots can help: Increase efficiency and productivity. Reduce error, re-work, and risk rates. Improve safety for employees in high-risk work”environments. In this COVID era every 4 out of the 5 Fortune 500 e-commerce companies and especially the e-commerce giants like Walmart , Amazon and Flipkart are focusing even more on contact less delivery. Delivery using automated bots is a concept that can be used even after the Covid situation gets over. The popularity of e-commerce buying is exploding, and the phenomenon has huge implications for shippers and distributors. To paraphrase Charles Darwin, “those companies best prepared to adapt to this new reality are the ones that will flourish while laggards will be left in the dust”. “Logistics is all about movement from one place to another. This movement happens across facilities and within facilities. While AGVs (AUTOMATED GUIDED VEHICLES) have found their way into applications of material movement inside a warehouse, they are designed to move across flat surfaces with minor undulations (in some cases requiring specialised mezzanine surfaces). This paper comes up with conceptual building and designing an autonomous robot which can work on flat surfaces and even climb up and down standard stairs with a payload of 3-5kg. This paper further will inform you about the conceptual building of an autonomous stair climbing robot involving all the steps like sensor fusion , navigation , tracking , mapping and path planning.

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Guerrieri, Marco, Raffaele Mauro, Andrea Pompigna, and Natalia Isaenko. "Road Design Criteria and Capacity Estimation Based on Autonomous Vehicles Performances. First Results from the European C-Roads Platform and A22 Motorway." Transport and Telecommunication Journal 22, no. 2 (April 1, 2021): 230–43. http://dx.doi.org/10.2478/ttj-2021-0018.

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Abstract Several European road operators and authorities joined the C-Roads Platform with the aim of harmonising the deployment activities of cooperative intelligent transport systems (C-ITS). C-ITS research is preliminary to future automated-driving vehicles. The current conventional highways were designed on traditional criteria and models specifically developed for traffic flows of manually guided vehicles. Thus, this article describes some new criteria for designing and monitoring road infrastructures on the basis of performance features of autonomous (or self-driving) vehicles. The new criteria have been adopted to perform an accurate conformity control of the A22 Brenner motorway, included in the C-Roads Platform, and also to ascertain whether in future it may be travelled by automated vehicles in safety conditions. Always in accordance with the technical and scientific insights required by the C-Roads Platform, a traffic model has been implemented to estimate how the A22 capacity increases compared to current values, by taking various percentages of automated or manual vehicles into consideration. The results given by theoretical models indicate that the highway will be able to be travelled by automated vehicles in safety conditions. On the other hand, the lane capacity is due to increase up to 2.5 times more than the current capacities, experimentally determined through traffic data collected from 4 highway sections by means of Drake’s flow model.

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Pușcașu, Samuel. "Contactless power transfer application for devices identification." MATEC Web of Conferences 290 (2019): 01017. http://dx.doi.org/10.1051/matecconf/201929001017.

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This paper deals with the problem of non-contact power transfer systems to identify components based on infrared signatures reading. This approach enables the distinction of a larger number of different devices situated in a relatively small area, compared to RFID technology. Moreover, the presented infrared contactless identification is resilient to natural environmental infrared perturbations. The advantages of this approach are demonstrated in a simple use-case: continuously identifying low consumption chess pieces on a custom chessboard. This approach can be further instantiated for high consumption devices such as electrically charging small autonomous guided vehicles.

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Al-Nuaimi, Mohammed, Sapto Wibowo, Hongyang Qu, Jonathan Aitken, and Sandor Veres. "Hybrid Verification Technique for Decision-Making of Self-Driving Vehicles." Journal of Sensor and Actuator Networks 10, no. 3 (June 29, 2021): 42. http://dx.doi.org/10.3390/jsan10030042.

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The evolution of driving technology has recently progressed from active safety features and ADAS systems to fully sensor-guided autonomous driving. Bringing such a vehicle to market requires not only simulation and testing but formal verification to account for all possible traffic scenarios. A new verification approach, which combines the use of two well-known model checkers: model checker for multi-agent systems (MCMAS) and probabilistic model checker (PRISM), is presented for this purpose. The overall structure of our autonomous vehicle (AV) system consists of: (1) A perception system of sensors that feeds data into (2) a rational agent (RA) based on a belief–desire–intention (BDI) architecture, which uses a model of the environment and is connected to the RA for verification of decision-making, and (3) a feedback control systems for following a self-planned path. MCMAS is used to check the consistency and stability of the BDI agent logic during design-time. PRISM is used to provide the RA with the probability of success while it decides to take action during run-time operation. This allows the RA to select movements of the highest probability of success from several generated alternatives. This framework has been tested on a new AV software platform built using the robot operating system (ROS) and virtual reality (VR) Gazebo Simulator. It also includes a parking lot scenario to test the feasibility of this approach in a realistic environment. A practical implementation of the AV system was also carried out on the experimental testbed.

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Bogue, Robert. "Sensors for robotic perception. Part two: positional and environmental awareness." Industrial Robot: An International Journal 42, no. 6 (October 19, 2015): 502–7. http://dx.doi.org/10.1108/ir-07-2015-0133.

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Purpose – The purpose of this article is to illustrate how sensors impart perceptive capabilities to robots. This is the second part of a two-part article. This second part considers positional awareness and sensing in the external environment, notably but not exclusively by autonomous, mobile robots. Design/methodology/approach – Following a short introduction, this article first discusses positional sensing and navigation by mobile robots, including self-driving cars, automated guided vehicles, unmanned aerial vehicles (UAVs) and autonomous underwater vehicles (AUVs). It then considers sensing with UAVs and AUVs, and finally discusses robots for hazard detection. Brief concluding comments are drawn. Findings – This shows that sensors based on a multitude of techniques confer navigational capabilities to mobile robots, including LIDARs, radar, sonar, imaging and inertial sensing devices. UAVs, AUVs and mobile terrestrial robots can be equipped with all manner of sensors to create detailed terrestrial and underwater maps, monitor air and water quality, locate pollution and detect hazards. While existing sensors are used widely, many new devices are now being developed to meet specific requirements and to comply with size, weight and cost restraints. Originality/value – The use of mobile robots is growing rapidly, and this article provides a timely account of how sensors confer them with positional awareness and allow them to act as mobile sensing platforms.

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Nantogma, Sulemana, Keyu Pan, Weilong Song, Renwei Luo, and Yang Xu. "Towards Realizing Intelligent Coordinated Controllers for Multi-USV Systems Using Abstract Training Environments." Journal of Marine Science and Engineering 9, no. 6 (May 22, 2021): 560. http://dx.doi.org/10.3390/jmse9060560.

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Unmanned autonomous vehicles for various civilian and military applications have become a particularly interesting research area. Despite their many potential applications, a related technological challenge is realizing realistic coordinated autonomous control and decision making in complex and multi-agent environments. Machine learning approaches have been largely employed in simplified simulations to acquire intelligent control systems in multi-agent settings. However, the complexity of the physical environment, unrealistic assumptions, and lack of abstract physical environments derail the process of transition from simulation to real systems. This work presents a modular framework for automated data acquisition, training, and the evaluation of multiple unmanned surface vehicles controllers that facilitate prior knowledge integration and human-guided learning in a closed-loop. To realize this, we first present a digital maritime environment of multiple unmanned surface vehicles that abstracts the real-world dynamics in our application domain. Then, a behavior-driven artificial immune-inspired fuzzy classifier systems approach that is capable of optimizing agents’ behaviors and action selection in a multi-agent environment is presented. Evaluation scenarios of different combat missions are presented to demonstrate the performance of the system. Simulation results show that the resulting controllers can achieved an average wining rate between 52% and 98% in all test cases, indicating the effectiveness of the proposed approach and its feasibility in realizing adaptive controllers for efficient multiple unmanned systems’ cooperative decision making. We believe that this system can facilitate the simulation, data acquisition, training, and evaluation of practical cooperative unmanned vehicles’ controllers in a closed-loop.

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Gmiterko, Alexander. "LINE RECOGNITION SENSORS." TECHNICAL SCIENCES AND TECHNOLOGIES, no. 4 (14) (2018): 194–200. http://dx.doi.org/10.25140/2411-5363-2018-4(14)-194-200.

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Urgency of the research. There is a need from industrial practice for developing of methods for linefollowing navigation of automated guided vehicle (AGV) for logistic task in factories without operators. Target setting. Various types of navigation methods are used for vehicles. Actual scientific researches and issues analysis. Navigation of this automated guided vehicle can be made through the color line on ground or through the inductive sensed cable located underground. Also magnetically guided method is used. Various types of optical markers can be also used. Nowadays this type of autonomous robot applications grows up, because there is a need from industry. Uninvestigated parts of general matters defining. Next generation of automated guided vehicle is navigated via using laser scanners and they are also called LGV – Laser Guided Vehicle. This type is not covered in this paper. The research objective. The main aim of paper is to design the sensing system for color line sensing. There are several problems in using of these types of sensors. Manufacturer notes that there is placed daylight filter, but first experiments shows sensitivity to daylight. This problem can occurs when vehicle goes to tunnel. Next problem is when vehicle moves uphill and downhill on a bridge. The statement of basic materials. The color of sensor can be sensed with sensor - reflection optocoupler working in infrared light range. The optocoupler includes the infrared LED transmitter and infrared phototransistor, which senses the reflected light. Optocouplers are placed on bottom side of vehicle. Navigation line is black and other ground area is white. Optocoupler located over the navigation black line has no infrared reflection. Conclusions. The selected sensor system has been adapted for line detection application. Also ramp problems have been solved. Sensors have been successfully installed on linefollower vehicle. Results shows visible difference between the voltage levels related to black and white color line. Future plans is to add camera vision system for automatic recognition of line before vehicle and continuously path planning. Vision systems are also frequently used for obstacle detection and mapping of environment and consequently for path planning.

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Santos, Joana, Paulo M. Rebelo, Luis F. Rocha, Pedro Costa, and Germano Veiga. "A* Based Routing and Scheduling Modules for Multiple AGVs in an Industrial Scenario." Robotics 10, no. 2 (May 19, 2021): 72. http://dx.doi.org/10.3390/robotics10020072.

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A multi-AGV based logistic system is typically associated with two fundamental problems, critical for its overall performance: the AGV’s route planning for collision and deadlock avoidance; and the task scheduling to determine which vehicle should transport which load. Several heuristic functions can be used according to the application. This paper proposes a time-based algorithm to dynamically control a fleet of Autonomous Guided Vehicles (AGVs) in an automatic warehouse scenario. Our approach includes a routing algorithm based on the A* heuristic search (TEA*—Time Enhanced A*) to generate free-collisions paths and a scheduling module to improve the results of the routing algorithm. These modules work cooperatively to provide an efficient task execution time considering as basis the routing algorithm information. Simulation experiments are presented using a typical industrial layout for 10 and 20 AGVs. Moreover, a comparison with an alternative approach from the state-of-the-art is also presented.

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Thomopoulos, Vasileios, Dionysios Bitas, Kyriakos-Nikos Papastavros, Dimitris Tsipianitis, and Angeliki Kavga. "Development of an Integrated IoT-Based Greenhouse Control Three-Device Robotic System." Agronomy 11, no. 2 (February 23, 2021): 405. http://dx.doi.org/10.3390/agronomy11020405.

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The control of large greenhouse installations, especially those with hydroponics crops, is based on the analysis and use of data recorded by many sensors. At the same time, the size of such installations does not allow for their effective terrestrial surveillance, to detect problems promptly. In recent years, there has been an interest in the development of autonomous agbots equipped with agricultural sensors. Several ground-based AGV (automated guided vehicles) and UAV (unmanned aerial vehicles) systems have been developed for use in open-air plots. A key feature of all these innovative systems is spectroscopy, the development of which has been assisted by the surveillance capabilities and speed of modern-day UAVs (drones). However, there is a lag in the use of spectroscopy inside greenhouses since UAVs do not move freely indoors. In this paper, we propose as a solution a three-device (3DS) system.

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Rosich, A., and P. Gurfil. "Coupling in-flight trajectory planning and flocking for multiple autonomous parafoils." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 226, no. 6 (June 2012): 691–720. http://dx.doi.org/10.1177/0954410011413637.

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Much effort has been invested during the past decades in design of parafoils for a wide range of payloads and in development of means for their guidance. Existing parafoils are capable of autonomous navigation using the global positioning system and other onboard sensors. The purpose of this study is to explore the advantages of coordination among multiple autonomous parafoils. Each parafoil is able to navigate to the target on its own by following a real-time-generated reference trajectory. A new method for trajectory generation is presented and behaviour-based rules are developed that control the relative motion of the descending parafoils. The set of simple rules results in an emergent behaviour known as flocking. The coupling between trajectory following and flocking is studied in a multiagent simulation. The simulation uses a realistic six-degrees-of-freedom model of a heavy cargo parafoil. The obtained results demonstrate the possibility of flocking behaviour for guided parafoils. The flocking rules ensure safe separation between the vehicles headed for the same target and allow the parafoils to follow a reference trajectory as a group.

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Journal articles on the topic 'Autonomous guided vehicles'

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