In this paper we propose a centralized control method for routing and scheduling a fleet of autonomously guided vehicles that serves online transportation requests. Our method maintains a central schedule, which is re...
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In this paper we propose a centralized control method for routing and scheduling a fleet of autonomously guided vehicles that serves online transportation requests. Our method maintains a central schedule, which is revised each time a vehicle finishes its current transportation task or a new transportation request arrives. The main benefit of the central schedule is that it ensures provably conflict-free control of a large fleet of vehicles on almost any layout, and permits optimization taking all the vehicle routes and schedules into account at the same time. We pay special attention to parking vehicles which may block the way of the moving vehicles, and our method inserts pull-off routes for them. The schedules are improved by various strategies, such as reducing the delays by swapping the order of the vehicles crossing the same lane, or elimination of loops in the vehicle routes created by pull-offs. We demonstrate the capabilities of our method by a series of computational tests, in which we also compare our mechanism to a recent conflict-free centralized method which is also designed for handling online requests.
Disabled people using electrical wheelchairs usually suffer from strong motoric handicaps. In order to assist them in their mobility, there has a sensor system been developed to warn them of obstacles in the way and t...
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Disabled people using electrical wheelchairs usually suffer from strong motoric handicaps. In order to assist them in their mobility, there has a sensor system been developed to warn them of obstacles in the way and to assist them in navigation to return to their home. The related low-cost technology uses sensor data fusion of a ranging system, active markers, a gyro and a GPS-system. With the same sensor configuration also additional useful capabilities for a hospital environment, like convoy driving of several wheelchairs, or autonomous driving and return are described in this paper
This paper presents an integrated approach to the problem of AGV guidance using trinocular vision. Although this method uses three cameras, we will not do any processings related to stereo matching nor 3-D reconstruct...
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This paper presents an integrated approach to the problem of AGV guidance using trinocular vision. Although this method uses three cameras, we will not do any processings related to stereo matching nor 3-D reconstruction. Instead, our trinocular vision is divided into two subsystems: monocular vision for path localization and binocular vision for obstacle detection. First, we demonstrate the geometric principle of 2-D vision. Then, we show its application for the task of AGV's path localization as well as the task of AGV's obstacle detection in the framework of trinocular vision. Experimental results with real images prove the usefulness of our method.
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