Thanks to advances in technology, the forth industrial revolution (Industry 4.0) is coming. All the manufacturers are undertaking large-scale technological innovations which include artificial intelligence and auto guided vehicle. These two research fields are also the major techniques in the proposed paper. In this paper, the tracking control and slope-climbing strategy between autonomous mobile robot and flatbed vehicle is proposed. The structure is integrated by three parts. First, the Q-learning algorithm is applied to controller design. Second, LIDAR sensor and camera are used to measure distance, forward direction and position of flatbed vehicle relative to autonomous mobile robot. Third, Robot Operation System (ROS) is adopt to be the data communication system among central processor unit, LIDAR sensor and camera of the autonomous mobile robot. In the simulation results, the flatbed vehicle follows three different trajectories, and the autonomous mobile robot computes tracking paths by machine vision and Q-learning algorithm. After reaching a certain distance, the autonomous mobile robot would carry out slope-climbing strategy to link with flatbed vehicle successfully.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Q-learning based Tracking Control and Slope Climbing Strategy Design of Autonomous Mobile Robot and Flatbed Vehicle


    Beteiligte:
    Chou, Kuan-Yu (Autor:in) / Chen, Yu-Ting (Autor:in) / Lin, Jing-Kai (Autor:in) / Ho, Shi-Lin (Autor:in) / Chen, Yon-Ping (Autor:in)


    Erscheinungsdatum :

    2021-09-15


    Format / Umfang :

    1321291 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    FLATBED VEHICLE ACCESSORY ASSEMBLY AND FLATBED VEHICLE CARGO MANAGEMENT METHOD

    LEVINE ERIC S / RUTMAN MATTHEW B / CHIMENTO VINCENT ANTHONY et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Climbing robot vehicle

    LI XIN | Europäisches Patentamt | 2017

    Freier Zugriff

    Climbing robot vehicle

    LI XIN | Europäisches Patentamt | 2018

    Freier Zugriff

    Climbing Robot Vehicle

    LI XIN | Europäisches Patentamt | 2016

    Freier Zugriff

    CLIMBING ROBOT VEHICLE

    LI XIN | Europäisches Patentamt | 2019

    Freier Zugriff