Multi-AGV transport of a load: state of art and centralized proposal

[EN] An automatic guided vehicle is a battery powered fully automated industrial transport system. These vehicles are widely used in the industrial sector to substitute manual forklifts and conveyors. The challenge of using AGVs as transport agents in industrial environments goes through providing them with enough intelligence to develop collaborative tasks. Among these collaborative tasks the multi-AGV transport of one object is differentiated from the multi-object multi-AGV transport. This work presents the state of art of cooperative transport solutions of one object between several AGVs. The theoretical fundaments are revised and several proposals for its resolution are classified and described. Finally, an own proposal of one-object multi-AGV transport with omnidirectional AGVs based on centralized remote control is presented.[ES] Un vehículo de guiado automático (Automatic Guided Vehicle –AGV-en inglés) es un sistema de transporte industrial completamente automatizado y alimentado por baterías. Estos vehículos son ampliamente utilizados en el sector industrial para sustituir a carretillas manuales y cintas transportadoras. El reto de la utilización de AGVs como agentes de transporte en entornos industriales pasa por dotarles de la inteligencia suficiente para desarrollar tareas colaborativas. Dentro de estas tareas colaborativas se diferencia el transporte multi-AGV de un objeto del transporte multi-AGV de múltiples objetos. Este trabajo presenta el estado del arte de las soluciones de transporte cooperativo de un objeto entre varios AGVs. Para ello, se revisan los fundamentos teóricos y se clasifican y describen varias propuestas para su resolución. 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Design And Implementation Of An Omnidirectional Mobile Robot Platform

Tez (Yüksek Lisans) -- İstanbul Teknik Üniversitesi, Fen Bilimleri Enstitüsü, 2008Thesis (M.Sc.) -- İstanbul Technical University, Institute of Science and Technology, 2008Bu çalısmada robotik alanında yapılan akademik çalısmaların genis bir bölümünde uygulama gelistirme platformu olarak kullanılmak üzere; gerekli islemci gücü, algılama yetileri, hareket kabiliyeti ve iletisim altyapılarını sunan bir mobil robot platform tasarlanmıs ve gerçeklenmistir. Gerçeklenen robotun tabanı, iki diferansiyel sürümlü platformun üzerine sabitlenmistir. Bu sayede serbestlik derecesi dört olan taban, diferansiyel sürümlü platformları kontrol ederek her yöne hareket edebilme yeteneğine sahiptir. Gerçeklenen mekanik tasarımda, odometri tabanlı hassas konumlandırmanın mümkün olabilmesi için, robotun tasarımının kendine has geometrik avantajlarını kullanarak odometri hatalarının azaltılmasına olanak veren bir yöntem sunulmustur. Hareketli platformun üzerindeki donanım bataryalar, üç eksende hareketli bir kamera, çift çekirdekli bir DSP sistemi, Linux tabanlı bir kontrol kartı, kablosuz ağ ve video bağlantısı, grafik LCD ve detayları sunulmus olan, iki eksende hareketli bir lazer isaretçi ile kameranın kullanıldığı, çalısmaya özel olarak gelistirilmis üç boyutlu mesafe ölçerinden olusmaktadır.In this study, an omnidirectional mobile robot with sufficient processing power, sensory units and communication facilities for being utilized as an application development platform for a wide range of academic research in the field of robotics was designed and implemented. The base plane of the robot is attached onto two differential drive platforms, giving four-degrees-of-freedom to the base. This makes the robot able to move to any direction with proper control of the differential drive platforms, giving the property of omnidirectionality. A method to reduce odometric errors and make odometry based accurate positioning possible was also presented which utilizes the geometrical advantages particular to the robot’s mechanic design. The hardware on the moving base consists of batteries, a camera moving in three axes, a dual core DSP system, a Linux based control card, wireless network and video connection, graphical LCD and a laser pointer moving in two axes. An algorithm that uses the laser and the camera to obtain three dimensional distance measurements was also derived.Yüksek LisansM.Sc

Self–organised multi agent system for search and rescue operations

Autonomous multi-agent systems perform inadequately in time critical missions, while they tend to explore exhaustively each location of the field in one phase with out selecting the pertinent strategy. This research aims to solve this problem by introducing a hierarchy of exploration strategies. Agents explore an unknown search terrain with complex topology in multiple predefined stages by performing pertinent strategies depending on their previous observations. Exploration inside unknown, cluttered, and confined environments is one of the main challenges for search and rescue robots inside collapsed buildings. In this regard we introduce our novel exploration algorithm for multi–agent system, that is able to perform a fast, fair, and thorough search as well as solving the multi–agent traffic congestion. Our simulations have been performed on different test environments in which the complexity of the search field has been defined by fractal dimension of Brownian movements. The exploration stages are depicted as defined arenas of National Institute of Standard and Technology (NIST). NIST introduced three scenarios of progressive difficulty: yellow, orange, and red. The main concentration of this research is on the red arena with the least structure and most challenging parts to robot nimbleness

Proceedings of the NASA Conference on Space Telerobotics, volume 1

The theme of the Conference was man-machine collaboration in space. Topics addressed include: redundant manipulators; man-machine systems; telerobot architecture; remote sensing and planning; navigation; neural networks; fundamental AI research; and reasoning under uncertainty