Kinematics of 2-DOF AGVs with Differential Driving Wheels and Caster Wheels Modeling

Montazerijouybari, Mohammadreza; Baron, Luc; Kélouwani, Sousso

doi:10.1007/978-3-030-58380-4_59

Cited by 4 publications

(3 citation statements)

References 6 publications

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“…Other research directions aimed to assess the factors that influence the energy needs of AGVs and to model these needs [39], [40]. Some researchers focused on charging optimization [41], [42] while others on improving the energy efficiency of mobile robots through motion planning and control [43]- [46]. Finally, another interesting research works aimed to improve the energy efficiency through routing decisions.…”

Section: B Agv Energy Performancementioning

confidence: 99%

Energy Efficient Order Picking Routing for a Pick Support Automated Guided Vehicle (Ps-AGV)

et al. 2022

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Section: B Agv Energy Performancementioning

confidence: 99%

Energy Efficient Order Picking Routing for a Pick Support Automated Guided Vehicle (Ps-AGV)

et al. 2022

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“…To mention some, Ref. [16] proposed a mathematical model based on the kinematics in order to predict the behavior of a 2-DOF AGV with differential driving wheels and four caster wheels. The authors concentrated on the estimation of the caster wheels' orientation based only on kinematic means.…”

Section: Related Workmentioning

confidence: 99%

Performance and Extreme Conditions Analysis Based on Iterative Modelling Algorithm for Multi-Trailer AGVs

2022

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Automatic guidance vehicles (AGV) are industrial vehicles that play an important role in the development of smart manufacturing systems and Industry 4.0. To provide these autonomous systems with the flexibility that is required today in these industrial workspaces, AGV computational models are necessary in order to analyze their performance and design efficient planning and control strategies. To address these issues, in this work, the mathematical model and the algorithm that implement a computational control-oriented simulation model of a hybrid tricycle-differential AGV with multi-trailers have been developed. Physical factors, such as wheel-ground interaction and the effect of vertical and lateral loads on its dynamics, have been incorporated into the model. The model has been tested in simulation with two different controllers and three trajectories: a circumference, a square, and an s-shaped curve. Furthermore, it has been used to analyze extreme situations of slipping and capsizing and the influence of the number of trailers on the tracking error and the control effort. This way, the minimum lateral friction coefficient to avoid slipping and the minimum ratio between the lateral and height displacement of the center of gravity to avoid capsizing have been obtained. In addition, the effect of a change in the friction coefficient has also been simulated.

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“…In terms of the robot and the following monitoring, as the radius of rotation increases, the space required to be covered by the air-conditioner robot increases, increasing the time spent moving. If the radius of rotation decreases, the robot wheels tend to slip more [55][56][57][58][59]. Therefore, it is essential to select an appropriate radius of orbit for the robot tracking.…”

Section: Kinematics Of Differential Drive Caster Robotmentioning

confidence: 99%

Development of Air Conditioner Robot Prototype That Follows Humans in Outdoor Applications

et al. 2021

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According to Robert McSweeney, in light of a new study: “Conditions in the GCC could become so hot and humid in the coming years that staying outside for more than six hours will become difficult”. He is a climate analyst at CARBON BRIEF, a nonprofit temperature and climate analysis group. He also states that changes there can help give us an idea of what the rest of the world can expect if we do not reduce the emissions that pollute homes and factories. Because of the high temperatures in GCC countries, the effect of heat stress is very high there, which discourages shoppers and pedestrians from shopping in the open area due to the physical exertion and high risks faced by people and workers. Heat stress peaks in most Arab Gulf countries from 11:00 a.m. to 4:00 p.m. during the summer season. Heat stress is increasingly an obstacle to economic efficiency in these countries. This work designs and develops a robot that tracks shoppers and provides a cool stream of air directly around them during shopping in open areas to reduce the effect of heat stress. The robot enables us to cool the temperature around customers in the market to increase comfort. In this project, a robot was designed and manufactured to track a specific person and cool the air around him through a cool stream of air generated by the air conditioner installed inside the robot. We used a Raspberry Pi camera sensor to detect the target person and interact with a single-board computer (Raspberry Pi 3) to accomplish this design and the prototype. Raspberry Pi controls the air-conditioning robot to follow the movement of the target person. We used image processing to discover the target shopper, the control system, and then guide the bot. In the meantime, the robot must also bypass any potential obstacles that could prevent its movement and cause a collision. We made a highly efficient design that can synchronize between the software algorithm and the mechanical platform of the robot. This work is merely the combination of a cool stream of air and a robot that follows a human.

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Kinematics of 2-DOF AGVs with Differential Driving Wheels and Caster Wheels Modeling

Cited by 4 publications

References 6 publications

Energy Efficient Order Picking Routing for a Pick Support Automated Guided Vehicle (Ps-AGV)

Energy Efficient Order Picking Routing for a Pick Support Automated Guided Vehicle (Ps-AGV)

Performance and Extreme Conditions Analysis Based on Iterative Modelling Algorithm for Multi-Trailer AGVs

Development of Air Conditioner Robot Prototype That Follows Humans in Outdoor Applications

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