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Autonomous transport vehicles: where we are and what is missing
Örebro University, School of Science and Technology.ORCID iD: 0000-0002-2953-1564
Örebro University, School of Science and Technology.
Örebro University, School of Science and Technology.
INRIA - Grenoble, Meylan, France .
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2015 (English)In: IEEE robotics & automation magazine, ISSN 1070-9932, E-ISSN 1558-223X, Vol. 22, no 1, 64-75 p.Article in journal (Refereed) Published
Abstract [en]

In this article, we address the problem of realizing a complete efficient system for automated management of fleets of autonomous ground vehicles in industrial sites. We elicit from current industrial practice and the scientific state of the art the key challenges related to autonomous transport vehicles in industrial environments and relate them to enabling techniques in perception, task allocation, motion planning, coordination, collision prediction, and control. We propose a modular approach based on least commitment, which integrates all modules through a uniform constraint-based paradigm. We describe an instantiation of this system and present a summary of the results, showing evidence of increased flexibility at the control level to adapt to contingencies.

Place, publisher, year, edition, pages
2015. Vol. 22, no 1, 64-75 p.
Keyword [en]
Intelligent vehicles; Mobile robots; Resource management; Robot kinematics; Trajectory; Vehicle dynamics
National Category
Robotics
Identifiers
URN: urn:nbn:se:oru:diva-44432DOI: 10.1109/MRA.2014.2381357ISI: 000352030600010Scopus ID: 2-s2.0-84925133099OAI: oai:DiVA.org:oru-44432DiVA: diva2:807693
Available from: 2015-04-24 Created: 2015-04-24 Last updated: 2017-12-04Bibliographically approved

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Andreasson, HenrikBouguerra, AbdelbakiCirillo, MarcelloDimitrov, Dimitar NikolaevDriankov, DimiterKarlsson, LarsLilienthal, Achim J.Pecora, FedericoSaarinen, Jari PekkaSherikov, AleksanderStoyanov, Todor

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Andreasson, HenrikBouguerra, AbdelbakiCirillo, MarcelloDimitrov, Dimitar NikolaevDriankov, DimiterKarlsson, LarsLilienthal, Achim J.Pecora, FedericoSaarinen, Jari PekkaSherikov, AleksanderStoyanov, Todor
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