Obstacle avoidance for industrial AGVs

Author

Digani, Valerio ; Caramaschi, Fabrizio ; Sabattini, Lorenzo ; Secchi, Cristian ; Fantuzzi, Cesare

Author_Institution

Dept. of Sci. & Methods for Eng. (DISMI), Univ. of Modena & Reggio Emilia, Reggio Emilia, Italy

fYear

2014

fDate

4-6 Sept. 2014

Firstpage

227

Lastpage

232

Abstract

The paper deals with the obstacle avoidance problem for Automated Guided Vehicles (AGVs). We propose an automatic algorithm to build new obstacle-free trajectories that leave the original roadmap. The new path has to also comply with the dynamic and kinematic constraints of the AGV. The new paths are generated by means of polar spline curves, lane-change maneuver curves and line segments. The proposed method is validated by means of simulations.

Keywords

automatic guided vehicles; collision avoidance; industrial robots; mobile robots; robot dynamics; robot kinematics; splines (mathematics); trajectory control; AGV dynamic constraints; AGV kinematic constraints; automated guided vehicles; industrial AGV; lane-change maneuver curves; line segments; obstacle avoidance problem; obstacle-free trajectories; path generation; polar spline curves; roadmap; Collision avoidance; Kinematics; Robots; Safety; Sensors; Splines (mathematics); Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Computer Communication and Processing (ICCP), 2014 IEEE International Conference on

Conference_Location

Cluj Napoca

Print_ISBN

978-1-4799-6568-7

Type

conf

DOI

10.1109/ICCP.2014.6937001

Filename

6937001