Research on Path Planning and Control of Driverless Logistics Train

Feng, Jinxiang; Yang, Bo; Pei, Xiaofei; Zhou, Pengwei

doi:10.1109/cvci54083.2021.9661132

Cited by 2 publications

(2 citation statements)

References 7 publications

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“…Many path planning methods have been explored in different approaches to obtain autonomous ability [ 16 , 17 , 18 , 19 , 20 , 21 , 22 , 23 , 24 ]. Some approaches in the literature [ 25 , 26 , 27 , 28 ] are developed under a robot operating system (ROS), offering a core set of software for operating robots that can be extended according to the prebuilt libraries and packages.…”

Section: Introductionmentioning

confidence: 99%

Path Planning and Motion Control of Indoor Mobile Robot under Exploration-Based SLAM (e-SLAM)

Roy

Sheu

et al. 2023

Sensors

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Indoor mobile robot (IMR) motion control for e-SLAM techniques with limited sensors, i.e., only LiDAR, is proposed in this research. The path was initially generated from simple floor plans constructed by the IMR exploration. The path planning starts from the vertices which can be traveled through, proceeds to the velocity planning on both cornering and linear motion, and reaches the interpolated discrete points joining the vertices. The IMR recognizes its location and environment gradually from the LiDAR data. The study imposes the upper rings of the LiDAR image to perform localization while the lower rings are for obstacle detection. The IMR must travel through a series of featured vertices and perform the path planning further generating an integrated LiDAR image. A considerable challenge is that the LiDAR data are the only source to be compared with the path planned according to the floor map. Certain changes still need to be adapted into, for example, the distance precision with relevance to the floor map and the IMR deviation in order to avoid obstacles on the path. The LiDAR setting and IMR speed regulation account for a critical issue. The study contributed to integrating a step-by-step procedure of implementing path planning and motion control using solely the LiDAR data along with the integration of various pieces of software. The control strategy is thus improved while experimenting with various proportional control gains for position, orientation, and velocity of the LiDAR in the IMR.

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Section: Introductionmentioning

confidence: 99%

Path Planning and Motion Control of Indoor Mobile Robot under Exploration-Based SLAM (e-SLAM)

Roy

Sheu

et al. 2023

Sensors

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“…They can be used in urban areas, industrial parks and various terminal distribution scenarios that require short-distance logistics, which can effectively reduce transportation costs and improve the efficiency of logistics industry. Benefiting from the advance of artificial intelligence and new energy technology, the using of driverless vehicles, especially electric driverless vehicles (EDVs) will make delivery system more clean, efficiency and security ( Xie et al, 2017 ; Feng et al, 2021 ). Our goal is to investigate the route planning approach for Driverless Vehicle Deliver System (DVDS) to improve distribution efficiency of the “last-kilometer” in an urban scenario.…”

Section: Introductionmentioning

confidence: 99%

An integrated route planning approach for driverless vehicle delivery system

2022

PeerJ Computer Science

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With the rapid growth of express delivery in urban areas, the use of driverless vehicles as an alternative to traditional human delivery can reduce costs and improve efficiency. The route planning of driverless vehicles is crucial in realizing autonomous navigation, which improves the working level and ensures improvements in efficiency. However, it is difficult to reasonably organize the real-time delivery, taking into account several factors that influence the planning of routes, such as load capabilities, power limits and traffic conditions. To deal with this concern, we propose an integrated approach including a multistage model and improved genetic algorithm to obtain the optimal delivery plan for driverless vehicles. The experimental results in an urban scenario with a realistic delivery service show the superiority of our proposition in the delivery efficiency.

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Research on Path Planning and Control of Driverless Logistics Train

Cited by 2 publications

References 7 publications

Path Planning and Motion Control of Indoor Mobile Robot under Exploration-Based SLAM (e-SLAM)

Path Planning and Motion Control of Indoor Mobile Robot under Exploration-Based SLAM (e-SLAM)

An integrated route planning approach for driverless vehicle delivery system

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