Title :
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
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;
Conference_Titel :
Intelligent Computer Communication and Processing (ICCP), 2014 IEEE International Conference on
Conference_Location :
Cluj Napoca
Print_ISBN :
978-1-4799-6568-7
DOI :
10.1109/ICCP.2014.6937001
