An INS-UWB Based Collision Avoidance System for AGV

Sun, Shunkai; Hu, Jianping; Li, Jie; Liu, Ruidong; Shu, Meng; Yang, Yang

doi:10.3390/a12020040

Cited by 19 publications

(14 citation statements)

References 15 publications

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“…In recent years, intelligent and flexible manufacturing has motivated the development of autonomous mobile robots for workpiece and equipment handling and transportation [1,2], and in particular, automated guided vehicle (AGV) technology is widely studied and applied [3][4][5][6][7]. The omni-directional mobile AGV with Mecanum-wheeled robot platform, which has good driving force and easy control performance, can improve the utilization of workshop space and the efficiency of workshop transportation, and is very appropriate for transporting heavy goods in complex industrial environments [8,9]. The AGV that adopts a four-Mecanum-wheeled mobile robot platform with symmetrical structure is the most basic form and most widely used in industry [10][11][12].…”

Section: Introductionmentioning

confidence: 99%

“…Udomsaksenee et al [35] proposed a global control method for Mecanum-wheeled vehicles with slip compensation.The latest research on cooperative transportation mainly focuses on path planning and navigation algorithms in working environments, and control methods in the cooperative transportation process. Research on the Mecanum-wheeled robot platform is mainly focused on single-Mecanum-wheeled robots [8,9,[36][37][38][39], while there is less research on the kinematic of a combination system and motion compensation of multiple-Mecanum-wheeled robot platforms. However, studying the kinematic and characteristics of the combined omnidirectional mobile system is the basis for studying the motion control, path planning, and navigation of the combination system.…”

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confidence: 99%

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Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation

Dai

et al. 2019

Sensors

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In industry, combination configurations composed of multiple Mecanum-wheeled mobile robots are adopted to transport large-scale objects. In this paper, a kinematic model with velocity compensation of the combined mobile system is created, aimed to provide a theoretical kinematic basis for accurate motion control. Motion simulations of a single four-Mecanum-wheeled virtual robot prototype on RecurDyn and motion tests of a robot physical prototype are carried out, and the motions of a variety of combined mobile configurations are also simulated. Motion simulation and test results prove that the kinematic models of single-and multiple-robot combination systems are correct, and the inverse kinematic correction model with velocity compensation matrix is feasible. Through simulations or experiments, the velocity compensation coefficients of the robots can be measured and the velocity compensation matrix can be created. This modified inverse kinematic model can effectively reduce the errors of robot motion caused by wheel slippage and improve the motion accuracy of the mobile robot system.Sensors 2020, 20, 75 2 of 37 robot called MC-Drive, and the MC-Drive TP200 robot has been used to carry aircraft at Airbus manufacturing plants [13,14]. The KUKA omniMove UTV-2 set is a heavy-duty mobile platform with 12 Mecanum wheels that can be used to carry large objects [15]. (2) Using a combination of multiple Mecanum-wheeled robot platforms, which can be considered as a whole with cooperative omnidirectional motion and transport. Usually, mobile platforms used for cooperative transportation are symmetrically arranged. For example, a railcar body can be carried cooperatively by four KUKA omniMove mobile platforms at the Siemens plant in Krefeld, Germany [16]. The four mobile platforms are symmetrically arranged at four corners of the railcar body. Omni-directional mobile platforms with 8, 12, 16, or 32 Mecanum wheels can also be considered as specific combinations of multiple basic mobile platforms.The mature basic theory of four-Mecanum-wheeled robots is the basis of research on multi-robot systems. Muir [17][18][19] carried out basic research on Mecanum-wheeled robots and developed a kinematic and dynamic model and control on a four-Mecanum-wheeled robot. Campion et al. [20] studied structural properties and classification of kinematic and dynamic models of mobile wheeled robots and derived a motion constraint equation of a Mecanum wheel that can be used in kinematic research of multiple Mecanum-wheeled robots. Robots with four or more Mecanum wheels are overactuated systems with one or more motion constraints (wheel velocities are linearly correlated). Every additional wheel, and every additional robot, adds new motion constraints. So, the motion constraints of a multiple-Mecanum-wheeled robot system can be developed [21], which is also valid for multi-robot systems. The problem of transporting objects with a combined system is also a typical cooperative object transport problem in multi-robot systems, which is a growing rese...

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Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation

Dai

et al. 2019

Sensors

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“…Reference [37] reported a position error of less than 0.5 m, although with a systematic shift, and they used five cameras to realize their method, which is impractical for forest surveys. Reference [44] used an extended Kalman filter (EKF) method that integrated inertial navigation system (INS) and UWB data. They tested their method in an indoor area of 10 × 10 m and found that the positioning error of UWB was between 10 and 30 cm and INS-UWB was less than 15 cm.…”

Section: Discussionmentioning

confidence: 99%

An Integrated Method for Coding Trees, Measuring Tree Diameter, and Estimating Tree Positions

Sun

Fang

Weng

et al. 2019

Sensors

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Accurately measuring tree diameter at breast height (DBH) and estimating tree positions in a sample plot are important in tree mensuration. The main aims of this paper include (1) developing a new, integrated device that can identify trees using the quick response (QR) code technique to record tree identifications, measure DBH, and estimate tree positions concurrently; (2) designing an innovative algorithm to measure DBH using only two angle sensors, which is simple and can reduce the impact of eccentric stems on DBH measures; and (3) designing an algorithm to estimate the position of the tree by combining ultra-wide band (UWB) technology and altitude sensors, which is based on the received signal strength indication (RSSI) algorithm and quadrilateral localization algorithm. This novel device was applied to measure ten 10 × 10 m square plots of diversified environments and various tree species to test its accuracy. Before measuring a plot, a coded sticker was fixed at a height of 1.3 m on each individual tree stem, and four UWB module anchors were set up at the four corners of the plot. All individual trees’ DBHs and positions within the plot were then measured. Tree DBH, measured using a tree caliper, and the values of tree positions, measured using tape, angle ruler, and inclinometer, were used as the respective reference values for comparison. Across the plots, the decode rate of QR codes was 100%, with an average response time less than two seconds. The DBH values had a bias of 1.89 mm (1.88% in relative terms) and a root mean square error (RMSE) of 5.38 mm (4.53% in relative terms). The tree positions were accurately estimated; the biases on the x-axis and the y-axis of the tree position were −8.55–14.88 cm and −12.07–24.49 cm, respectively, and the corresponding RMSEs were 12.94–33.96 cm and 17.78–28.43 cm. The average error between the estimated and reference distances was 30.06 cm, with a standard deviation of 13.53 cm. The device is cheap and friendly to use in addition to its high accuracy. Although further studies are needed, our method provides a great alternative to conventional tools for improving the efficiency and accuracy of tree mensuration.

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“…Many proposed solutions rely on external infrastructures, especially for GPSrefused environments. Hamer and Andrea obtained global position with the assist of a ground anchor network consisting of UWB modules [8], so as some other similar research [20] [21] [22] [23] [24], and Xu et al expanded the anchor network by considering onboard UWB modules on UAVs [7]. For GPS-restricted environments, multi-UAVs coordination has been considered to improve GPS's robustness and accuracy [25] [26] [27].…”

Section: A Rl In Gps-denied Environmentmentioning

confidence: 99%

Enhanced Relative Localization Based on Persistent Excitation for Multi-UAVs in GPS-Denied Environments

She¹,

Zhang²,

Shi

et al. 2020

IEEE Access

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Intelligent unmanned aerial vehicles (UAVs) have been applied for civil and military uses. Relative localization (RL) is crucial for multi-UAVs to accomplish complex tasks successfully and safely. In global positioning system (GPS) denied environments, where accurate or meaningful location information is hard to obtain, persistent excitation based RL is a promising approach for multi-UAVs to achieve RL without any needs of external infrastructures. However, for many cases, existing persistent excitation based RL method suffers precision loss, error accumulation and divergence. This paper tackles these issues, and proposes an enhanced approach to ensure the practical usage of persistent excitation based RL. Synchronized sensor sample prediction is introduced to confine and reduce RL error, and RL estimation is redesigned to avoid RL error accumulation. We evaluated our solution by simulating various scenarios. The results show that the proposed approach can effectively decrease RL error and prevent RL error accumulation.

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An INS-UWB Based Collision Avoidance System for AGV

Cited by 19 publications

References 15 publications

Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation

Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation

An Integrated Method for Coding Trees, Measuring Tree Diameter, and Estimating Tree Positions

Enhanced Relative Localization Based on Persistent Excitation for Multi-UAVs in GPS-Denied Environments

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