Open Interfaces for Connecting Automated Guided Vehicles to a Fleet Management System

n/

ROBI’: A prototype mobile manipulator for agricultural applications

The design of ROBI', a prototype mobile manipulator for agricultural applications devised following low-cost, low-weight, simplicity, flexibility and modularity requirements, is presented in this work. The mechanical design and the selection of the main components of the motion control system, including sensors and in-wheel motors, is described. The kinematic and dynamic models of the robot are also derived, with the aim to support the design of a trajectory tracking system and to make a preliminary assessment of the design choices, as well. Finally, two simulations, one~specifically related to a realistic trajectory in an agricultural field, show the validity of these choices

A simulation based architecture for the development of an autonomous all terrain vehicle

In this work we describe a simulation environment for an autonomous all-terrain mobile robot. To allow for extensive test and verification of the high-level perception, planning, and trajectory control modules, the low-level control systems, the sensors, and the vehicle dynamics have been modeled and simulated by means of the V-Rep 3D simulator. We discuss the overall, i.e., high and low-level, software architecture and we present some validation experiments in which the behavior of the real system is compared with the corresponding simulations