Scheduling Optimization And Coordination With Target Tracking Under Heterogeneous Networks In Automated Guided Vehicles (AGVs)

Throughout the development of the multi-AGV systems, prevailing research directions contain improving the performance of individual AGV, optimizing the coordination of multiple AGVs, and enhancing the efficiency of communication among AGVs. Current researchers tend to pay attention to one research direction at a time. There is a lack of research on the overall AGV system design that tackles multiple critical design aspects of the system. This PhD research addresses four key factors of the AGV system which are AGV prototypes, target tracking algorithms, AGVs scheduling optimization and the communication of a multi-AGV system. Extensive field experiments and algorithm optimization are implemented. Comprehensive literature review is conducted to identify the research gap. The proposed solutions cover the following three aspects of the AGV system design including communication between AGVs, AGVs scheduling and computer vision in AGVs.        For AGV communication, a network selection optimization algorithm is presented. An improved method for preventing convolutional neural network (CNN) immune from backdoor attack to ensure a multi-AGV system's communication security is presented. Meanwhile, a transmission framework for a multi-AGV system is presented. Those methods are used to establish a safe and efficient multi-AGV system's communication environment. For AGV scheduling, a multi-robot planning algorithm with quadtree map division for obstacles of irregular shape is presented. In addition, a scheduling optimization platform is presented. These methods are used to make a multi-AGV system have a shorter time delay and decrease the possibility of collision in a multi-robot system.Meanwhile, a scheduling optimization method based on the combination of a handover rule and the A* algorithm is proposed. The system properties that may affect the scheduling performance are also discussed. Finally, the overall performance of the newly integrated scheduling system is compared with other scheduling systems to validate its superiority and shortcomings in different corresponding work scenarios. Computer vision in AGV is investigated in detail. To improve an individual AGV's performance, an improved Camshift Algorithm has been proposed and applied to AGV prototypes. Furthermore, three deep learning models are tested under specific environments. In addition, based on the designed algorithm, the AGV prototype is able to make a convergent prediction of the pixels in the target area after the first detection of the object. Relative coordinates of the target can be located more accurately in less time. As tested in the experiments, the system architecture and new algorithm lead to reduced hardware cost, shorter time delay, improved robustness, and higher accuracy in tracking.        With the three design aspects in mind, a novel method for real-time visual tracking and distance measurement is proposed. Tracking and collision avoidance functions are tested in the designed multi-AGV prototype system. Detailed design procedure, numerical analysis of the measurement data and recommendations for further improvement of the system design are presented

Intent prediction of vulnerable road users for trusted autonomous vehicles

This study investigated how future autonomous vehicles could be further trusted by vulnerable road users (such as pedestrians and cyclists) that they would be interacting with in urban traffic environments. It focused on understanding the behaviours of such road users on a deeper level by predicting their future intentions based solely on vehicle-based sensors and AI techniques. The findings showed that personal/body language attributes of vulnerable road users besides their past motion trajectories and physics attributes in the environment led to more accurate predictions about their intended actions

Vision based leader-follower formation control for mobile robots

Creating systems with multiple autonomous vehicles places severe demands on the design of control schemes. Robot formation control plays a vital role in coordinating robots. As the number of members in a system rise, the complexity of each member increases. There is a proportional increase in the quantity and complexity of onboard sensing, control and computation. This thesis investigates the control of a group of mobile robots consisting of a leader and several followers to maintain a desired geometric formation --Abstract, page iii

Automation and Robotics: Latest Achievements, Challenges and Prospects

This SI presents the latest achievements, challenges and prospects for drives, actuators, sensors, controls and robot navigation with reverse validation and applications in the field of industrial automation and robotics. Automation, supported by robotics, can effectively speed up and improve production. The industrialization of complex mechatronic components, especially robots, requires a large number of special processes already in the pre-production stage provided by modelling and simulation. This area of research from the very beginning includes drives, process technology, actuators, sensors, control systems and all connections in mechatronic systems. Automation and robotics form broad-spectrum areas of research, which are tightly interconnected. To reduce costs in the pre-production stage and to reduce production preparation time, it is necessary to solve complex tasks in the form of simulation with the use of standard software products and new technologies that allow, for example, machine vision and other imaging tools to examine new physical contexts, dependencies and connections

Annals of Scientific Society for Assembly, Handling and Industrial Robotics

This Open Access proceedings present a good overview of the current research landscape of industrial robots. The objective of MHI Colloquium is a successful networking at academic and management level. Thereby the colloquium is focussing on a high level academic exchange to distribute the obtained research results, determine synergetic effects and trends, connect the actors personally and in conclusion strengthen the research field as well as the MHI community. Additionally there is the possibility to become acquainted with the organizing institute. Primary audience are members of the scientific association for assembly, handling and industrial robots (WG MHI)

Modelling, Monitoring, Control and Optimization for Complex Industrial Processes

This reprint includes 22 research papers and an editorial, collected from the Special Issue "Modelling, Monitoring, Control and Optimization for Complex Industrial Processes", highlighting recent research advances and emerging research directions in complex industrial processes. This reprint aims to promote the research field and benefit the readers from both academic communities and industrial sectors

Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)

Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)