Minimum Time—Minimum Jerk Optimal Traffic Management for AGVs

Frego, Marco; Bevilacqua, Paolo; Divan, Stefano; Zenatti, Fabiano; Palopoli, Luigi; Biral, Francesco; Fontanelli, Daniele

doi:10.1109/lra.2020.3007435

Cited by 10 publications

(2 citation statements)

References 22 publications

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“…Mobile robots are finding broader application and have become an integral part of a variety of environments: in manufacturing, medicine, and many other robotics-based services, including automated warehouses [ 37 , 38 , 39 , 40 ]. In work environments where simple and labor-intensive tasks of workers are replaced by mobile robots, labor efficiency, scalability, adaptability, and warehouse visibility increase, and turnaround time decreases.…”

Section: Related Workmentioning

confidence: 99%

Minimum-Time Trajectory Generation for Wheeled Mobile Systems Using Bézier Curves with Constraints on Velocity, Acceleration and Jerk

Loknar

Klančar

Blažič

2023

Sensors

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This paper considers the problem of minimum-time smooth trajectory planning for wheeled mobile robots. The smooth path is defined by several Bézier curves and the calculated velocity profiles on individual segments are minimum-time with continuous velocity and acceleration in the joints. We describe a novel solution for the construction of a 5th order Bézier curve that enables a simple and intuitive parameterization. The proposed trajectory optimization considers environment space constraints and constraints on the velocity, acceleration, and jerk. The operation of the trajectory planning algorithm has been demonstrated in two simulations: on a racetrack and in a warehouse environment. Therefore, we have shown that the proposed path construction and trajectory generation algorithm can be applied to a constrained environment and can also be used in real-world driving scenarios.

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Section: Related Workmentioning

confidence: 99%

Minimum-Time Trajectory Generation for Wheeled Mobile Systems Using Bézier Curves with Constraints on Velocity, Acceleration and Jerk

Loknar

Klančar

Blažič

2023

Sensors

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“…Other works like [18] made use of a service-oriented multi-agent platform [19] for the analysis, design, and implementation of complex systems where the data sources and data processing are distributed. Frego et al [20] proposed a combined minimum time -minimum jerk traffic management system for the vehicle coordination in an automated warehouse, a piecewise constant velocity profile was decided for each agent to guarantee the execution of their missions and to avoid collisions. Koen et al [21] introduced the concept of agents and proposed a way to improve the accident handling of multi-AGV systems through the application of cooperative control.…”

Section: Introductionmentioning

confidence: 99%

An Improved Acceleration Method Based on Multi-Agent System for AGVs Conflict-Free Path Planning in Automated Terminals

2021

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Aiming at the problem that the increasing number of automated guided vehicles (AGVs) will lead to more frequent conflicts between AGVs. In this paper, a conflict-free path planning model for multi-AGV is established, aiming to minimize the blocking rate of AGVs between the quay crane and the yard crane, considering the travel speed, operation time, and conflict distance of AGVs. An architecture of AGV's system based on Multi-Agent System (MAS) is designed, the improved interactive protocol based on blackboard model is used as the communication method of AGV, the improved acceleration control method is combined with the AGV priority determination method based on time cost as the negotiation strategy of AGV, the improved Dijkstra algorithm calculates the conflict-free path of each AGV. By comparing the acceleration control method based on MAS with the speed control method based on MAS and the task priority control method, the effectiveness of this method for solving multiple AGVs conflict-free path planning in automated terminals is verified.INDEX TERMS Automated terminals, multi-AGV, multi-agent system (MAS), improved acceleration control method, conflict-free.

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Is time-optimal speed planning under jerk constraints a convex problem?

Consolini,

Locatelli

2024

Automatica

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Minimum Time—Minimum Jerk Optimal Traffic Management for AGVs

Cited by 10 publications

References 22 publications

Minimum-Time Trajectory Generation for Wheeled Mobile Systems Using Bézier Curves with Constraints on Velocity, Acceleration and Jerk

Minimum-Time Trajectory Generation for Wheeled Mobile Systems Using Bézier Curves with Constraints on Velocity, Acceleration and Jerk

An Improved Acceleration Method Based on Multi-Agent System for AGVs Conflict-Free Path Planning in Automated Terminals

Is time-optimal speed planning under jerk constraints a convex problem?

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