Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/69777
Título: | Motion control for autonomous tugger vehicles in dynamic factory floors shared with human operators |
Autor(es): | Louro, Luís Malheiro, Tiago Guimarães, Pedro Miguel Ferreira Machado, Toni Daniel Neto Monteiro, Sérgio Silva, Pedro Vaz Erlhagen, Wolfram Bicho, Estela |
Palavras-chave: | Dynamic environments shared with human operators Flexible and safe autonomous navigation Obstacle avoidance Tugger vehicles |
Data: | 1-Dez-2019 |
Editora: | IEEE |
Revista: | IEEE Open Journal of the Industrial Electronics Society |
Citação: | Louro, L., Malheiro, T., Guimaraes, P., Machado, T., et. al. (2019). Motion control for autonomous tugger vehicles in dynamic factory floors shared with human operators. In IECON 2019-45th Annual Conference of the IEEE Industrial Electronics Society (Vol. 1, pp. 5255-5262). IEEE |
Resumo(s): | We present a motion controller that generates collision free trajectories for autonomous Tugger vehicles operating in dynamic factory environments, where human operators may coexist. The controller is formalized as a dynamic system of path velocity and heading direction, whose vector fields change as sensory information varies. By design the parameters are tuned so that the control variables are close to an attractor of the resultant dynamics most of the time. This contributes to the overall asymptotically stability of the system and makes it robust against perturbations. We present several experiments, in a real factory environment, that highlight different innovative features of the navigation system - flexible and safe solutions for human-aware autonomous navigation in dynamic and cluttered environments. This means, besides generating online collision free trajectories between via points, the system detects the presence of humans, interact with them showing awareness of their presence, and generate adequate motor behavior. |
Tipo: | Artigo em ata de conferência |
URI: | https://hdl.handle.net/1822/69777 |
ISBN: | 978-1-7281-4879-3 |
e-ISBN: | 978-1-7281-4878-6 |
DOI: | 10.1109/IECON.2019.8926677 |
ISSN: | 1553-572X |
Versão da editora: | https://ieeexplore.ieee.org/abstract/document/8926677 |
Arbitragem científica: | yes |
Acesso: | Acesso aberto |
Aparece nas coleções: |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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08926677_Autonomous_Tugger_IECON_2019.pdf | 1,88 MB | Adobe PDF | Ver/Abrir |