Intelligent Path Recognition against Image Noises for Vision Guidance of Automated Guided Vehicles in a Complex Workspace

Wu, Kan; Sun, Dong; Zou,; Xiao, Jing; Zhai,

doi:10.3390/app9194108

Cited by 17 publications

(10 citation statements)

References 40 publications

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“…In this control framework, the path recognition approach based on vision detection can be found in a previous paper [32], while joint rate and torque instructions are not difficult to obtain if kinematics and dynamics models are both available. In this sense, the key issue in our vision guidance study is how to drive the mobile robot from the current pose to a target pose.…”

Section: Methodology Overviewmentioning

confidence: 99%

“…When high-curvature arcs are used for guide paths, the tangents of their different sections undergo a significant change in the field of view. In these cases, an approximation method based on binary-tree guidance window partition can be used to replace the curve with a series of piecewise lines at any given approximation accuracy [32]. Hence, only straight paths are considered as the target of tracking control in the field of view, as shown in Figure 3.…”

Section: Vision Guidancementioning

confidence: 99%

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Receding-Horizon Vision Guidance with Smooth Trajectory Blending in the Field of View of Mobile Robots

Ángeles

Zou

et al. 2020

Applied Sciences

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Applying computer vision to mobile robot navigation has been studied for over two decades. One of the most challenging problems for a vision-based mobile robot involves accurately and stably tracking a guide path in the robot limited field of view under high-speed manoeuvres. Pure pursuit controllers are a prevalent class of path tracking algorithms for mobile robots, while their performance is rather limited to relatively low speeds. In order to cope with the demands of high-speed manoeuvres, a multi-loop receding-horizon control framework, including path tracking, robot control, and drive control, is proposed in this paper. This is done within the vision guidance of differential-driving wheeled mobile robots (DWMRs). Lamé curves are used to synthesize a trajectory with G 2 -continuity in the field of view of the mobile robot for path tracking, from its current posture towards the guide path. The platform twist—point velocity and angular velocity—is calculated according to the curvature of the Lamé-curve trajectory, then transformed into actuated joint rates by means of the inverse-kinematics model; finally, the motor torques needed by the driving wheels are obtained based on the inverse-dynamics model. The whole multi-loop control process, initiated from Lamé-curve blending to computational torque control, is conducted iteratively by means of receding-horizon guidance to robustly drive the mobile robot manoeuvring close to the guide path. The results of numerical simulation show the effectiveness of our approach.

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Section: Methodology Overviewmentioning

confidence: 99%

Section: Vision Guidancementioning

confidence: 99%

Receding-Horizon Vision Guidance with Smooth Trajectory Blending in the Field of View of Mobile Robots

Ángeles

Zou

et al. 2020

Applied Sciences

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“…In the scheduling scheme, it is necessary to determine the execution time and execution mode of each task. Intelligent path recognition [16] is a good method for measuring the time consumed by AGVs.…”

Section: Problem Description and Formulationmentioning

confidence: 99%

Scheduling multi–mode resource–constrained tasks of automated guided vehicles with an improved particle swarm optimization algorithm

Xiao

Pan

et al. 2021

IET Collab Intel Manufact

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A modified particle swarm optimization (PSO) approach is presented for the multi-mode resource-constrained scheduling problem of automated guided vehicle (AGV) tasks. Various constraints in the scheduling process of the AGV system are analysed, and the types and quantities of AGVs as allocable resources are considered. The multiple-AGV combined distribution mode and its impact on distribution tasks is also considered. Finally, a multi-mode resource-constrained task scheduling model is established for which the object is to minimise material delivery time. Based on the above model, the discrete particle swarm optimization algorithm that improved the basic PSO was proposed. The simulation results with the test set in PSPLIB standard library showed the effectiveness of the improved PSO algorithm. This is an open access article under the terms of the Creative Commons Attribution-NonCommercial License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited and is not used for commercial purposes.

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“…Just a couple of examples are as follows. An intelligent path recognition system for vision-guided AGVs, able to tackle noise in the images captured by using a CCD camera, is presented in [11]. e paper addresses some of the most challenging problems for a vision-based AGV running in a complex workspace and improves the accuracy and reliability of vision recognition of guide paths for AGVs by means of artificial intelligence methods.…”

Section: Related Workmentioning

confidence: 99%

Mechatronic Modelling of Industrial AGVs: A Complex System Architecture

Sierra-García

Santos

2020

Complexity

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Automatic guided vehicles (AGVs) are unmanned transport vehicles widely used in the industry to substitute manned industrial trucks and conveyors. They are now considered to play a key role in the development of the Industry 4.0 due to their temporal and spatial flexibility. However, in order to deal with the AGV as a potential mobile robot with high capacities and certain level of intelligence, it is necessary to develop control-oriented models of these complex and nonlinear systems. In this paper, the modelling of this vehicle as a whole is addressed. It can be considered composed of several interrelated subsystems: control, safety, driving, guiding and localization, power storage, and charging systems. The kinematics equations of a tricycle vehicle are obtained, and a controller is proposed. An extended hybrid automata formalism is used to define the behaviour of the safety and the control systems, as well as their interaction. In addition, the electrical equivalent circuit of the batteries, charger, and the motors is studied. The architecture of the holistic model is presented. Simulation results of the AGV in a workspace scenario validate the model and prove the efficiency of this approach.

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Intelligent Path Recognition against Image Noises for Vision Guidance of Automated Guided Vehicles in a Complex Workspace

Cited by 17 publications

References 40 publications

Receding-Horizon Vision Guidance with Smooth Trajectory Blending in the Field of View of Mobile Robots

Receding-Horizon Vision Guidance with Smooth Trajectory Blending in the Field of View of Mobile Robots

Scheduling multi–mode resource–constrained tasks of automated guided vehicles with an improved particle swarm optimization algorithm

Mechatronic Modelling of Industrial AGVs: A Complex System Architecture

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