Coordinated multi-robotic vehicles navigation and control in shop floor automation

Gregor Klančar (Author), Marija Seder (Author)

Abstract

In this paper, we propose a global navigation function applied to model predictive control (MPC) for autonomous mobile robots, with application to warehouse automation. The approach considers static and dynamic obstacles and generates smooth, collision-free trajectories. The navigation function is based on a potential field derived from an E* graph search algorithm on a discrete occupancy grid and by bicubic interpolation. It has convergent behavior from anywhere to the target and is computed in advance to increase computational efficiency. The novel optimization strategy used in MPC combines a discrete set of velocity candidates with randomly perturbed candidates from particle swarm optimization. Adaptive horizon length is used to improve performance. The efficiency of the proposed approaches is validated using simulations and experimental results.

Keywords

navigacija;modelno prediktivno vodenje;planiranje poti;mobilni roboti;avtomatizacija skladišč;navigation;model predictive control;path planing;mobile robots;warehouse automation;

Data

Language:	English
Year of publishing:	2022
Typology:	1.01 - Original Scientific Article
Organization:	UL FE - Faculty of Electrical Engineering
UDC:	007.52
COBISS:	97419779
ISSN:	1424-8220
Views:	115
Downloads:	24
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	Slovenian
Secondary keywords:	navigacija;modelno prediktivno vodenje;planiranje poti;mobilni roboti;avtomatizacija skladišč;
Type (COBISS):	Article
Pages:	str. 1-21
Volume:	ǂiss. ǂ4
Issue:	1455
Chronology:	Feb.-2 2022
DOI:	10.3390/s22041455
ID:	15584975