Self-Configuration of Waypoints for Docking Maneuvers of Flexible Automated Guided Vehicles

Herrero, David Cerro; Villagrá, Jorge; Martinez, H.

doi:10.1109/tase.2013.2240386

Cited by 16 publications

(6 citation statements)

References 28 publications

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“…Herrero [29], similar to [20], followed with research on automatic configuration of the initial vehicle position, or waypoint. This waypoint is used to initiate a robust docking maneuver using nonholonomic (Ackerman steered) robotic forklifts used in automated manufacturing.…”

Section: Balakirsky Et Al Provided An Overview Of the National Instimentioning

confidence: 99%

Review of Research for Docking Automatic Guided Vehicles and Mobile Robots

Bostelman¹,

Hong²

2016

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This paper provides a literature review of docking research, an area that has relatively few research articles as compared to generic automatic guided vehicle (AGV) or mobile robot research. Docking refers to the arrival and stopping at a position relative to another object. Docking can include positioning the vehicle or the equipment onboard the vehicle relative to another object, for example a tray station, trailer, or pallet. The paper is expected to be useful to ASTM Committee F45 for development of docking and navigation standards and to industrial vehicle research communities as basis to further docking research. The paper covers research on vehicle control for docking and on the use of sensors combined with intelligent vehicle control. Docking research on AGV or mobile robots with onboard robot arms is also included. Other related research described includes flexible cells and docking of other than ground vehicles, e.g., unmanned surface vehicles. Closing the survey is a discussion of patents related to docking and an extensive list of references.

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Section: Balakirsky Et Al Provided An Overview Of the National Instimentioning

confidence: 99%

Review of Research for Docking Automatic Guided Vehicles and Mobile Robots

Bostelman¹,

Hong²

2016

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“…In order to solve for K * , we express the gradient of the Hamiltonian defined in (11) and set it to zero,…”

Section: Hopping Robot Model and Problem Statementmentioning

confidence: 99%

“…Recent and interesting control laws for solving the pathfollowing problem of autonomous robots have been proposed in [9]- [11]. In some cases, robot's sliding effects are tackled using the tools of linear matrix inequality and peak-topeak criterion.…”

Section: Introductionmentioning

confidence: 99%

Linear time-varying control law for stabilization of hopping robot during flight phase

Miah

Chaoui

Sicard

2014

2014 IEEE 23rd International Symposium on Industrial Electronics (ISIE)

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The well-known Brocket's theorem revealed that nonholonomic systems, hopping robots, for example, can not be stabilized by smooth time-invariant state feedback controllers. In this manuscript, we propose a linear time-varying state feedback controller for stabilizing a nonholonomic hopping robot during flight mode in finite time. The current approach is novel in the sense that we modify the Pontryagin's minimum principle to formulate the linear state feedback control law. The existence of such a control law and its necessary conditions are presented in detail. The theoretical results are also validated through computer simulations.

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“…For another, the final configuration (pose and velocity) of the robot should be adjusted properly to avoid the impact with the docking station. The kinematic characters of the robot should be considered as well for path tracking and energy saving [14][15][16].…”

Section: Introductionmentioning

confidence: 99%

Reactive Path Planning Approach for Docking Robots in Unknown Environment

Cui

Yan

Wang

2017

Journal of Advanced Transportation

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Autonomous robots need to be recharged and exchange information with the host through docking in the long-distance tasks. Therefore, feasible path is required in the docking process to guide the robot and adjust its pose. However, when there are unknown obstacles in the work area, it becomes difficult to determine the feasible path for docking. This paper presents a reactive path planning approach named Dubins-APF (DAPF) to solve the path planning problem for docking in unknown environment with obstacles. In this proposed approach the Dubins curves are combined with the designed obstacle avoidance potential field to plan the feasible path. Firstly, an initial path is planned and followed according to the configurations of the robot and the docking station. Then when the followed path is evaluated to be infeasible, the intermediate configuration is calculated as well as the replanned path based on the obstacle avoidance potential field. The robot will be navigated to the docking station with proper pose eventually via the DAPF approach. The proposed DAPF approach is efficient and does not require the prior knowledge about the environment. Simulation results are given to validate the effectiveness and feasibility of the proposed approach.

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Self-Configuration of Waypoints for Docking Maneuvers of Flexible Automated Guided Vehicles

Cited by 16 publications

References 28 publications

Review of Research for Docking Automatic Guided Vehicles and Mobile Robots

Review of Research for Docking Automatic Guided Vehicles and Mobile Robots

Linear time-varying control law for stabilization of hopping robot during flight phase

Reactive Path Planning Approach for Docking Robots in Unknown Environment

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