As warehouses are becoming more autonomous the number of Autonomous Guided Vehicles (AGV) increases. Ensuring that the motion planning is safe despite the large number of agents and despite sharing the workspace with humans is the problem we tackle in this thesis. We propose a solution based on velocity obstacles that ensures the collision avoidance and a global planner that takes into account the human comfort. This solution is evaluated in simulation with dynamic unicycle type robots with and without inter-robot communication and offers improvements over Hybrid Reciprocal Velocity Obstacles (HRVO) in the case without communication. ; I takt med att lager blir mer autonoma ökar antalet AGV:er (Autonomous Guided Vehicles). I detta examensarbete studeras problemet att styra dessa AGV:er så att de på ett effektivt och säkert sätt undviker kollisioner med både varandra och människor, samt inte orsakar obehag genom att köra för nära människor. De studerade AGV:erna är av typen “unicycle” och kan ofta, men inte alltid, kommunicera med varandra. Ett antal möjliga lösningar identifieras, anpassas och utvärderas i olika scenarier och erbjuder en förbättring i jämförelse med "Hybrid Reciprocal Velocity Obstacles (HRVO)" i fall där kommunikation inte sker.
Motion planning for an AGV fleet in a logistics scenario
2020-01-01
Theses
Electronic Resource
English
DDC: | 629 |
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