Application of a robotic system with mobile manipulator and vision positioning

Shao, Xuesong; Liu, Jian; Xu, Qing; Huang, Qifeng; Xiao, Wei; Wang, Wei; Xing, Chunlong

doi:10.1109/aim.2015.7222584

Cited by 3 publications

(2 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Equation (9) means that the number of AGVs arriving at the checkpoint entrance at any moment should be less than the maximum storage capacity of the checkpoint entrance; Equation (10) means that each storage space is transported by only one AGV at any moment. Equation (11) indicates that the quantity of material in the storage space w meets the demand for material i at the verification line p; Equation (12) indicates that the deviation of the order from the average distribution is within δ. N wi indicates the number of commodities owned by each pallet; Equations ( 13) and ( 14) indicate that there is at most one AGV traveling through any node at time t to avoid the occurrence of AGV node conflicts; Equation (15) indicates that the path network that can be exercised by AGVs is a unidirectional guided path; Equation ( 16) represents the time that the AGV passes through the path node m → n segment; Equation (17) represents the continuity of AGV trolley transportation time; Equation (18) represents the need to maintain a safe time interval when entering the same path node through any two trolleys. Equation ( 19) represents the charging duration of the AGV; Equation (20) represents the AGV charging operation, i.e., the current charge is charged if it is less than or equal to the minimum charge and vice versa.…”

Section: Symbol Descriptionmentioning

confidence: 99%

“…However, traditional heuristic algorithms still have limited performance in dealing with large-scale AGV scheduling problems under multi-dimensional constraints. Their random search can easily get stuck in local optima, and it is difficult to effectively implement efficient scheduling and dynamic autonomous path planning for AGV tasks considering the multi-dimensional constraints in automated electric meter verification workshops [11,12]. Against this background, how to effectively reduce the scheduling and path costs of largescale AGVs based on complex dynamic environments to maximize the overall productivity of the verification system has become an urgent issue that electric power enterprises need to resolve.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Scheduling of Multi-AGV Systems in Automated Electricity Meter Verification Workshops Based on an Improved Snake Optimization Algorithm

Shi,

Zhang,

et al. 2023

Symmetry

View full text Add to dashboard Cite

Automated guided vehicles (AGVs) are one of the core technologies for building unmanned autonomous integrated automated electric meter verification workshops in metrology centers. However, complex obstacles on the verification lines, frequent AGV charging, and multi-AGV collaboration make the scheduling problem more complicated. Aiming at the characteristics and constraints of AGV transportation scheduling for metrology verification, a multi-AGV scheduling model was established to minimize the maximum completion time and charging cost, integrating collision-avoidance constraints. An improved snake optimization algorithm was proposed that first assigns and sorts tasks based on AGV-order-address three-level mapping encoding and decoding, then searches optimal paths using an improved A* algorithm solves multi-AGV path conflicts, and finally finds the minimum-charging-cost schedule through large neighborhood search. We conducted simulations using real data, and the calculated results reduced the objective function value by 16.4% compared to the traditional first-in-first-out (FIFO) method. It also reduced the number of charges by 60.3%. In addition, the proposed algorithm is compared with a variety of cutting-edge algorithms and the results show that the objective function value is reduced by 8.7–11.2%, which verifies the superiority of the proposed algorithm and the feasibility of the model.

show abstract

Section: Symbol Descriptionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Scheduling of Multi-AGV Systems in Automated Electricity Meter Verification Workshops Based on an Improved Snake Optimization Algorithm

Shi,

Zhang,

et al. 2023

Symmetry

View full text Add to dashboard Cite

show abstract

A positioning method of mobile manipulator based on binocular vision

Chen

Wang

2022

ITM Web Conf.

View full text Add to dashboard Cite

This paper solves the problem of high-precision and flexible positioning of mobile manipulators. The target ball positioning tool is designed to be installed on the manipulator and calibrated. Then use binocular vision to locate the target ball positioning tool to realize the positioning of the mobile manipulator. The experimental measurement of the positioning accuracy is better than other positioning methods. The method of designing target ball positioning tool and adopting binocular vision positioning method has high precision and low cost.

show abstract

Vision-Based Mobile Manipulator for Handling and Transportation of Supermarket Products

Rahman

Usman

Farea

et al. 2022

Mathematical Problems in Engineering

View full text Add to dashboard Cite

Robot manipulators are growing more widely employed in the retail market, mostly for warehousing, but automating them in-store logistics processes is still a difficult task. Supermarkets and large retail stores face many challenges: shortages, handling, and placement of a single product on shelves. Various issues needed to be considered to develop a robot which can manipulate products of different sizes, shapes, and weight in limited spaces on shelves. The aim of this article is to design and develop a system to address the issues of shortage, identification, moving, and placements of products in supermarkets by properly incorporating database, camera vision, and line following mobile manipulator. A four-wheeled differential drive mobile robot was designed and developed which has a 5 DOF robotic manipulator on it. The line following technique is used to move it around the warehouse. The barcode recognition technique for the localization of product sections and object detection using SIFT is successfully and efficiently employed. The demonstration of the usefulness of the method was shown by carrying out experiments in a relevant environment which imitates a real supermarket.

show abstract

Application of a robotic system with mobile manipulator and vision positioning

Cited by 3 publications

References 14 publications

Scheduling of Multi-AGV Systems in Automated Electricity Meter Verification Workshops Based on an Improved Snake Optimization Algorithm

Scheduling of Multi-AGV Systems in Automated Electricity Meter Verification Workshops Based on an Improved Snake Optimization Algorithm

A positioning method of mobile manipulator based on binocular vision

Vision-Based Mobile Manipulator for Handling and Transportation of Supermarket Products

Contact Info

Product

Resources

About