In this paper we tackle the development of a robotic-car with hardware control, lane detection, mapping, localization and path planning capabilities. We aim for a completely independent, reliable and robust system tha...
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ISBN:
(纸本)9783642408496;9783642408489
In this paper we tackle the development of a robotic-car with hardware control, lane detection, mapping, localization and path planning capabilities. We aim for a completely independent, reliable and robust system that can traverse a single lane track bordered by white lines on an optimal path. To detect the track boundaries, we implement two different approaches. A RANSAC approach, which approximates the lines by random sampling of splines, and a polyline approach, which applies primitive image processing in combination with a road model. To map the environment, odometry and vision-based information is fused by a particle filter based Simultaneous Localization and Mapping system. The map is afterwards used in conjunction with Adaptive Monte Carlo Localization. For path planning, a one step continuous-curvature approach based on sensor or maps data is used. To offer more detailed information about the environment, we introduce a generic map analysis system. It is employed to evaluate the efficiency of certain paths on the track.
This paper gives an overview on a control and navigation system for omnidirectional Automated Guided Vehicles (AGVs) implemented by the authors. On the hardware side this framework only uses an industrial grade embedd...
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ISBN:
(纸本)9789881925237
This paper gives an overview on a control and navigation system for omnidirectional Automated Guided Vehicles (AGVs) implemented by the authors. On the hardware side this framework only uses an industrial grade embedded PC. All closed-loop controllers as well as a sophisticated navigation system including path-planning and global and local localization is implemented in the authors real-time Linux based AGV framework. In this paper the fundamental concept of the architecture of this control system is discussed and the benefits such as offering to execute high level robotic frameworks, like Player/Stage or Robot Operating System (ROS), in parallel to the low level controllers on the same PC are shown. While the sophisticated localization system and the generation of trajectories where already presented, this paper focuses on the overall software structure including the communication system, the modular design including a client/server model, client multiplexing and the hardware interface supporting different types of AGVs utilized by the Intelligent Mobile Systems Lab (IMSL) of the University of Applied Sciences and Arts Dortmund. The application source and also the compiled binaries are executed unchanged on all the AGVs with just different runtime configurations.
Flexibility, throughput, maintainability, scalability, reliability and low cost: That are the main optimization criteria of material flow systems (MFS). The most of this criteria are diametrical and so hardly to impro...
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ISBN:
(纸本)9789896740009
Flexibility, throughput, maintainability, scalability, reliability and low cost: That are the main optimization criteria of material flow systems (MFS). The most of this criteria are diametrical and so hardly to improve considerably with today's existing transportation devices and their static control structures. Hence a new approach of a transportation systems with cooperating robotic units and a novel cognitive environment will be presented. This approach will combine different research areas like robotics and wireless sensor networks to achieve a higher degree of flexibility.
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