A flexible multiple mobile robots system

Author

Fok, Kun-Chee Henry ; Kabuka, Mansur R.

Author_Institution

Dept. of Electr. & Comput. Eng., Miami Univ., Coral Gables, FL, USA

Volume

8

Issue

5

fYear

1992

fDate

10/1/1992 12:00:00 AM

Firstpage

607

Lastpage

623

Abstract

Optimal performance of a manufacturing layout consisting of several mobile robots performing specific transportation tasks is addressed. A synergistic approach based on decentralized path planning, heuristic-algorithm-based navigation, and localized collision avoidance is presented. A comprehensive, flexible multiple mobile robots system (MMRS) consisting of standard patterns, a local controller, and individual mobile robots is described. The mobile robots are capable of performing their own path planning and collision avoidance by means of ultrasonic sensors, standard patterns, and rotary optical encoders. Specially designed algorithms for the mobile robot and local controller are presented. To ensure greater flexibility in designing the layout, the MMRS was interfaced with a specially designed CAD subsystem. Simulations using varying numbers of robots were performed on a sample layout that was designed using the CAD subsystem. The results of the simulation illustrate the validity of the approach

Keywords

computerised materials handling; computerised navigation; factory automation; mobile robots; path planning; position control; CAD subsystem; collision avoidance; decentralized path planning; flexible multiple mobile robots system; heuristic-algorithm-based navigation; manufacturing layout; synergistic approach; transportation tasks; Algorithm design and analysis; Collision avoidance; Control systems; Design automation; Manufacturing; Mobile robots; Navigation; Optical sensors; Path planning; Transportation;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.163785

Filename

163785