K. Schilling, M. M. Arteche, Juan Garbajosa, R. Mayerhofer
{"title":"Design of flexible autonomous transport robots for industrial production","authors":"K. Schilling, M. M. Arteche, Juan Garbajosa, R. Mayerhofer","doi":"10.1109/ISIE.1997.648640","DOIUrl":null,"url":null,"abstract":"Autonomously guided vehicles (AGVs) are a key element to perform flexible transport tasks in industrial production. At present AGVs, usually guided via induction wires laid in the floor, are widely used for material transport. The ESPRIT-project RETRARO addresses, in an trial application, advanced data processing techniques to develop a free navigation capability for the AGV in order to achieve a higher operational flexibility. On basis of the REAKT real-time expert system and a low cost range detection system using sensor data fusion, the following functionalities are provided: algorithms for efficient path planning and health monitoring; economic sensor systems to provide navigation and obstacle avoidance functions; and the combination of free navigation capabilities with an existing wire-guided AGV system. There results a flexible transport system, able to adapt to changing production configurations. This paper provides details of this approach and reports on the trial implementation in a spinning mill.","PeriodicalId":134474,"journal":{"name":"ISIE '97 Proceeding of the IEEE International Symposium on Industrial Electronics","volume":"240 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"14","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"ISIE '97 Proceeding of the IEEE International Symposium on Industrial Electronics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISIE.1997.648640","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 14
Abstract
Autonomously guided vehicles (AGVs) are a key element to perform flexible transport tasks in industrial production. At present AGVs, usually guided via induction wires laid in the floor, are widely used for material transport. The ESPRIT-project RETRARO addresses, in an trial application, advanced data processing techniques to develop a free navigation capability for the AGV in order to achieve a higher operational flexibility. On basis of the REAKT real-time expert system and a low cost range detection system using sensor data fusion, the following functionalities are provided: algorithms for efficient path planning and health monitoring; economic sensor systems to provide navigation and obstacle avoidance functions; and the combination of free navigation capabilities with an existing wire-guided AGV system. There results a flexible transport system, able to adapt to changing production configurations. This paper provides details of this approach and reports on the trial implementation in a spinning mill.