- -

Transporte multi-AGV de una carga: estado del arte y propuesta centralizada

RiuNet: Repositorio Institucional de la Universidad Politécnica de Valencia

Compartir/Enviar a

Citas

Estadísticas

  • Estadisticas de Uso

Transporte multi-AGV de una carga: estado del arte y propuesta centralizada

Mostrar el registro sencillo del ítem

Ficheros en el ítem

Thumbnail
Nombre: Espinosa;Santos;S ...
Tamaño: 3.370Mb
Formato: PDF
Descripción: Versión editorial
Abrir
dc.contributor.author Espinosa, F. es_ES
dc.contributor.author Santos, C. es_ES
dc.contributor.author Sierra-García, J. E. es_ES
dc.date.accessioned 2021-02-03T08:33:24Z
dc.date.available 2021-02-03T08:33:24Z
dc.date.issued 2020-12-23
dc.identifier.issn 1697-7912
dc.identifier.uri http://hdl.handle.net/10251/160625
dc.description.abstract [EN] An automatic guided vehicle is a battery powered fully automated industrial transport system. These vehicles are widely used in the industrial sector to substitute manual forklifts and conveyors. The challenge of using AGVs as transport agents in industrial environments goes through providing them with enough intelligence to develop collaborative tasks. Among these collaborative tasks the multi-AGV transport of one object is differentiated from the multi-object multi-AGV transport. This work presents the state of art of cooperative transport solutions of one object between several AGVs. The theoretical fundaments are revised and several proposals for its resolution are classified and described. Finally, an own proposal of one-object multi-AGV transport with omnidirectional AGVs based on centralized remote control is presented. es_ES
dc.description.abstract [ES] Un vehículo de guiado automático (Automatic Guided Vehicle –AGV-en inglés) es un sistema de transporte industrial completamente automatizado y alimentado por baterías. Estos vehículos son ampliamente utilizados en el sector industrial para sustituir a carretillas manuales y cintas transportadoras. El reto de la utilización de AGVs como agentes de transporte en entornos industriales pasa por dotarles de la inteligencia suficiente para desarrollar tareas colaborativas. Dentro de estas tareas colaborativas se diferencia el transporte multi-AGV de un objeto del transporte multi-AGV de múltiples objetos. Este trabajo presenta el estado del arte de las soluciones de transporte cooperativo de un objeto entre varios AGVs. Para ello, se revisan los fundamentos teóricos y se clasifican y describen varias propuestas para su resolución. Finalmente se propone una solución de control remoto centralizado para el transporte de una carga con AGVs omnidireccionales. es_ES
dc.description.sponsorship Este trabajo ha sido apoyado parcialmente por la Junta de Castilla y León bajo el proyecto 10/16/BU/0014 y la empresa ASTI Mobile Robotics. es_ES
dc.language Español es_ES
dc.publisher Universitat Politècnica de València es_ES
dc.relation.ispartof Revista Iberoamericana de Automática e Informática industrial es_ES
dc.rights Reconocimiento - No comercial - Compartir igual (by-nc-sa) es_ES
dc.subject AVGs es_ES
dc.subject Automatic guided vehicle es_ES
dc.subject Omnidirectional transport unit es_ES
dc.subject Cooperative transport es_ES
dc.subject Industrial control es_ES
dc.subject Industrial sector es_ES
dc.subject AGVs es_ES
dc.subject Vehículo de guiado automático es_ES
dc.subject Unidad de transporte omnidireccional es_ES
dc.subject Transporte cooperativo es_ES
dc.subject Control industrial es_ES
dc.subject Sector industrial es_ES
dc.title Transporte multi-AGV de una carga: estado del arte y propuesta centralizada es_ES
dc.title.alternative Multi-AGV transport of a load: state of art and centralized proposal es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.4995/riai.2020.12846
dc.relation.projectID info:eu-repo/grantAgreement/Junta de Castilla y León//10%2F16%2FBU%2F0014/ es_ES
dc.rights.accessRights Abierto es_ES
dc.description.bibliographicCitation Espinosa, F.; Santos, C.; Sierra-García, JE. (2020). Transporte multi-AGV de una carga: estado del arte y propuesta centralizada. Revista Iberoamericana de Automática e Informática industrial. 18(1):82-91. https://doi.org/10.4995/riai.2020.12846 es_ES
dc.description.accrualMethod OJS es_ES
dc.relation.publisherversion https://doi.org/10.4995/riai.2020.12846 es_ES
dc.description.upvformatpinicio 82 es_ES
dc.description.upvformatpfin 91 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 18 es_ES
dc.description.issue 1 es_ES
dc.identifier.eissn 1697-7920
dc.relation.pasarela OJS\12846 es_ES
dc.contributor.funder Junta de Castilla y León es_ES
dc.description.references Adăscăliţei, F., and Doroftei, I. 2011. Practical Applications for Mobile Robots based on Mecanum Wheels - A Systematic Survey. The Romanian Review Precision Mechanics, Optics & Mechatronics, nº 40. es_ES
dc.description.references Alonso-Mora, J., Barker, S. and Rus, D. 2017. Multi-robot formation control and object transport in dynamic environments via constrained optimization. The International Journal of Robotics Research. August 10. https://doi.org/10.1177/0278364917719333 es_ES
dc.description.references Adreasson, H., Bourguerra, A., Driankov, D. and Karlsson. L. 2015. Autonomous Transport Vehicles: Where We Are and What Is Missing. IEEE Robotics & Automation Magazine · March 2015. https://doi.org/10.1109/MRA.2014.2381357 es_ES
dc.description.references Amoozgar, M. and Zhang, Y. 2012. Trajectory tracking of wheeled mobile robots: A kinematical approach. Mechatronics and Embedded Systems and Applications (MESA), 2012 IEEE/ASME International Conference on, 2012, pp. 275- 280. https://doi.org/10.1109/MESA.2012.6275574 es_ES
dc.description.references Bahíllo, A. y otros, 2019. Libro blanco sobre espacios inteligentes y tecnologías de posicionamiento y navegación en entornos de interior. Editorial: Universidad de Alcalá. ISBN: 978-84-17729-47-9. es_ES
dc.description.references Berman, S. and Edan Y. 2002. Decentralized autonomous AGV system for material handling. International Journal of Production Research 40(15):3995-4006 https://doi.org/10.1080/00207540210146990 es_ES
dc.description.references Borenstein, J., 1995. Control and Kinematic Design of Multi-Degree-ofFreedom Mobile Robots with Compliant Linkage. IEEE Trans. On Robotis and Automation. Vol. 1 I , nº I. https://doi.org/10.1109/70.345935 es_ES
dc.description.references Borenstein, J., 2000. The OmniMate: a guidewire and beacon-free AGV for highly reconfigurable applications. Int. Journal of Production Research. Vol. 38, nº 9, June 15, 2000. https://doi.org/10.1080/002075400188456 es_ES
dc.description.references Bostel, A.J. and Sagar, V,K. 1996. Dynamic control systems for AGVs. Engineering. https://doi.org/10.1049/cce:19960403 es_ES
dc.description.references Brown, R., and Jennings, J., 1995. A pusher/steerer model for strongly cooperative mobile robot manipulation. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots 3, 562-568 es_ES
dc.description.references Butdee, S., Vignat, F., Suebsomran, A. and Yarlagadda, P.K. 2009. Estimation and control of an automated guided vehicle. International Journal of Mechatronics and Manufacturing Systems 2(3). https://doi.org/10.1504/IJMMS.2009.026053 es_ES
dc.description.references Cameron, S. and Probert, P. 1994. Advanced Guided Vehicles: Aspects of the Oxford AGV Project. ISBN: 981-02-1393-X. https://doi.org/10.1142/2022 es_ES
dc.description.references Chen, X. and Li, Y., 2006. "Cooperative Transportation by Multiple Mobile Manipulators Using Adaptive NN Control". In 2006 International Joint Conference on Neural Networks. es_ES
dc.description.references Chiacchio P. and Chiaverini S., 1997. Complex Robotic Systems. Springer. https://doi.org/10.1007/BFb0035182 es_ES
dc.description.references Choi, S.K., Easterday, O.T. 2001. An Underwater Vehicle Monitoring System and Its Sensors. Lecture Notes in Control and Information Sciences. Experimental robotics. Springer-Verlag. Pp551-560. ISBN 3-540-42104-1. https://doi.org/10.1007/3-540-45118-8_55 es_ES
dc.description.references Digani, V., Sabattini, L., Secchi, C., Fantuzzi, C., 2014. Hierarchical Traffic Control for Partially De-centralized Coordination of Multi AGV Systems in Industrial Environments. IEEE Inter-national Conference on Robotics & Automation (ICRA). https://doi.org/10.1109/ICRA.2014.6907764 es_ES
dc.description.references Esposito, J. M., Feemster, M. G., Smith, E., 2008. Cooperative manipulation on the water using a swarm of autonomous tugboats. in Proc. 2008 IEEE Int. Conf. on Robotics and Automation, pp. 1501-1506. https://doi.org/10.1109/ROBOT.2008.4543414 es_ES
dc.description.references Habibi, G., Kingston, Z., Xie, W., Jellins, M., McLurkin, J., 2015. Distributed Centroid Estimation and Motion Controllers for Collective Transport by Multi-Robot Systems. IEEE International Conference on Robotics and Automation (ICRA). https://doi.org/10.1109/ICRA.2015.7139356 es_ES
dc.description.references Seattle, Washington Hasimoto, M. and Oba, F., 1993. Dynamic control approach for motion coordination of multiple wheeled mobile robots transporting a single object. Proceedings of the 1993 IEEE./RSJ lntemational Conference on lntelligent Robots and Systems Yokohama, Japan July 26-30, 1993 es_ES
dc.description.references Hichri, B., Adouane, L., Fauroux, J.C., Mezouar, Y. and Doroftei, I. Cooperative Mobile Robot Control Architecture for Lifting and Transportation of Any Shape Payload. Chapter book of Distributed Autonomous Robotic Systems pp 177-191. ISBN 978-4-431-55877-4. https://doi.org/10.1007/978-4-431-55879-8_13 es_ES
dc.description.references Hirata, Y., Kosuge, K., 2001. Motion Control of Distributed Robot Helpers Transporting a Single Object in Cooperation with a Human. Lecture Notes in Control and Information Sciences. Experimental robotics. SpringerVerlag. Pp. 313-322. ISBN 3-540-42104-1 https://doi.org/10.1007/3-540-45118-8_32 es_ES
dc.description.references Karim, N.A. and Ardestani, M.A. 2016. Takagi-Sugeno Fuzzy formation control of non-holonomic robots. 4th International Conference on Control, Instrumentation, and Automation (ICCIA), Qazvin, 2016, pp. 178-183. https://doi.org/10.1109/ICCIAutom.2016.7483157 es_ES
dc.description.references Kosuge, K., Oosumi, T., 1996. Decentralized Control of Multiple Robots Handling an Object. Proc. Of 1996 IEEE Int. Conf. on Intelligent Robots and Systems, pp.318-323. es_ES
dc.description.references Kosuge, K., Sato., M., 1999. Transportation of a Single Object by Multiple Decentralized- Controlled Nonholonomic Mobile Robots. Proceedings of the 1999 IEEVRSJ International Conference on Intelligent Robots and Systems. es_ES
dc.description.references Krnjak, A., and others. 2015. Decentralized control of free ranging AGVs in warehouse environments. IEEE International Conference on Robotics and Automation (ICRA). https://doi.org/10.1109/ICRA.2015.7139465 es_ES
dc.description.references Li, P.Y., 1999. Adaptive Passive Velocity Field Control. American Control Conference. June, 1999. https://doi.org/10.1109/ACC.1999.783145 es_ES
dc.description.references Li, P.Y., Horowitz, R., 2001. Passive Velocity Field Control (PVFC): Part I, Geometry and Robustness. IEEE Trans on Automatic Control. Vol 46, no 9. https://doi.org/10.1109/9.948463 es_ES
dc.description.references Li, P.Y., Horowitz, R., 2001. Passive Velocity Field Control (PVFC): Part II, Application to contour following. IEEE Trans on Automatic Control. Vol 46, no 9, 2001. https://doi.org/10.1109/9.948464 es_ES
dc.description.references Liu, Z., Hou, L., Shi, Y., Zheng X., Teng, H., 2018. A co-evolutionary design methodology for complex AGV system. Neural Computing and Applications 29:959-974. Springer. https://doi.org/10.1007/s00521-016-2495-1 es_ES
dc.description.references Meissner, H., Ilsen, R. and Aurich, J.C. 2017. Analysis of control architectures in the context of Industry 4.0. Proc CIRP 2017; 62:165-9. https://doi.org/10.1016/j.procir.2016.06.113 es_ES
dc.description.references Mellinger, D., Shomin, M., Michael, N., Kumar, V., 2010. Cooperative grasping and transport using multiple quadrotors. in Proc. Distributed Autonomous Robotic Systems, Lusanne, pp 545-558. https://doi.org/10.1007/978-3-642-32723-0_39 es_ES
dc.description.references Neumann, M.A., Chin, M.H., Kitts, C.A., 2014. Object Manipulation through Explicit Force Control Using Cooperative Mobile Multi-Robot Systems" Proceedings of the World Congress on Engineering and Computer Science 2014 Vol I WCECS 2014, 22-24 October, 2014, San Francisco, USA es_ES
dc.description.references Ohashi, F., Kaminishi, K., Figueroa, J.D., Kato, H., Ogata, T., Hara T., Ota, J., 2016. Realization of heavy object transportation by mobile robots using handcarts and outrigger. Robomech Journal. https://doi.org/10.1186/s40648-016-0066-y es_ES
dc.description.references ON5G, 2020. 5G e industria 4.0: retos y oportunidades de la cuarta revolución industrial. Observatorio Nacional 5G. https://on5g.es/wp-content/uploads/2020/01/INFORME-ON5G-NDUSTRIA4.0-DIGITAL.pdf. Accesible el 31/03/2020. es_ES
dc.description.references Owen-Hill. A., 2018. Why we're entering the age of robotic logistics. Robotiq. https://blog.robotiq.com/why-were-entering-the-age-of-robotic-logistics es_ES
dc.description.references Parker, L. E., 2008. Multiple mobile robot systems. Springer Handbook of Robotics. https://doi.org/10.1007/978-3-540-30301-5_41 es_ES
dc.description.references Peng, T., Qian, J., Zi, B., Liu, J., Wang, X., 2016. Mechanical Design and Control System of an Omnidirectional Mobile Robot for Material Conveying. International Conference on Digital Enterprise Technology DET-2016. DOI: 10.1016/j.procir.2016.10.068. Springer. https://doi.org/10.1007/s00521-016-2495-1 es_ES
dc.description.references Pereira, G.A.S., Pimentel, B.S., Chaimowicz, L., Campos, M.F.M., 2002. Coordination of multiple mobile robots in an object carrying task using implicit communication. Proceedings of the 2002 IEEE International Conference on Robotics & Automation" May 2002. https://doi.org/10.1109/ROBOT.2002.1013374 es_ES
dc.description.references Quinn, M., 2004. The evolutionary design of controllers for minimallyequipped homogeneous multi-robot systems. Ph.D. thesis. Brighton: University of Sussex es_ES
dc.description.references Reister, D. B., 1991. A New Wheel Control System for the Omnidirectional HERMIES-III Robot. Proceedings of the IEEE Conference on Robotics and Automation Sacramento, California, April 7-12, pp. 2322-2327. es_ES
dc.description.references Ria, 2019. Robotic Industries Association. "Logistic Robots" https://www.robotics.org/service-robots/logistics-robots, available on June 7th, 2019. es_ES
dc.description.references Saha, S.K. and Angeles, J. 1989. Kinematics and dynamics of a three-wheeled 2-DOF AGV. ICRA 1989. https://doi.org/10.1109/ROBOT.1989.100202 es_ES
dc.description.references Santos, C., Espinosa, F., Martinez-Rey, M., Gualda, D. and Losada, C. 2019. Self-Triggered Formation Control of Nonholonomic Robots. Sensors 2019, 19(12), 2689; https://doi.org/10.3390/s19122689 es_ES
dc.description.references Solaque, L.E., Avendaño, D.R., Molina, M.A., Pulido, C.A. 2015. Sistema de transporte cooperativo desarrollado para un grupo de robots móviles noholonómicos usando el método Líder Virtual. Congreso internacional 264 de ingeniería mecatrónica y automatización - CIIMA 2015 es_ES
dc.description.references Suh, J.H., Lee, Y.J., Lee, K.S., 2005. Object-transportation control of cooperative AGV systems based on virtual-passivity decentralized control algorithm. Journal of Mechanical Science and Technology. Vol 19 n09, pp. 1720-1735. https://doi.org/10.1007/BF02984184 es_ES
dc.description.references Tan, W. 2002. Modeling and Control Design of an AGV. Proceedings of the 41st IEEE Conference on Decision and Control. 2002. https://doi.org/10.1109/CDC.2002.1184623 es_ES
dc.description.references Tuci, E., Alkilabi, M. H., & Akanyeti, O., 2018. Cooperative Object Transport in Multi-robot Systems: A Review of the State-of-the-Art. Frontiers in Robotics and AI. https://doi.org/10.3389/frobt.2018.00059 es_ES
dc.description.references Ullrich, G., 2015. Automated Guided Vehicle Systems. A Primer with Practical Applications. Springer. ISBN 978-3-662-44813-7 DOI 10.1007/978-3-662-44814-4 es_ES
dc.description.references Wada, M. 1996. Holonomic and omnidirectional vehicle with conventional tires. IEEE Int. Conference on Robotics and Automation. May, 1996. es_ES
dc.description.references Wada, M., Torii, R., 2013. Cooperative transportation of a single object by omnidirectional robots using potential method. 16th International Conference on Advanced Robotics (ICAR). https://doi.org/10.1109/ICAR.2013.6766543 es_ES
dc.description.references Wang, Z., Nakano, E., and Matsukawa, T., 1994. Cooperating multiple behavior based robots for object manipulation. in Proc. of the IEEE/RSJ/GI Int. Conf. on Intelligent Robots and Systems, Vol. 3 1524-1531 https://doi.org/10.1007/978-4-431-68275-2_33 es_ES
dc.description.references Wang, 2016 Z. Wang and M. Schwager. Chapter book: "Multi-robot manipulation without communication". Book: Distributed autonomous robotic systems. Editors: N.Y. Chong and Y.J. ISBN 978-4-431-55877-4 DOI 10.1007/978-4-431-55879-8 es_ES
dc.description.references Wang, T.M., Tao, Y., Liu, H., 2018. Current researches and future development trend of intelligent robot: a review. International Journal of Automation & Computing. Vol 15, no 5, pp. 525-548. https://doi.org/10.1007/s11633-018-1115-1 es_ES
dc.description.references Yan, Z., Jouandeau, N., and Cherif, A. A., 2013. A Survey and Analysis of Multi-Robot Coordination. Int. Journal of Advanced Robotic Systems 10 (12), 399. https://doi.org/10.5772/57313 es_ES
dc.description.references Yang, X., Watanabe, K., Kiguchi, K., Izumi, K., 2003. Coordinated transportation of a single object by two nonholonomic mobile robots. Artif Life Robotics. ISAROB 2003. https://doi.org/10.1007/BF02480885 es_ES
dc.description.references Yufka, A., Ozkan, M., 2015. Formation-based Control Scheme for Cooperative Transportation by Multiple Mobile Robots. International Journal of Advanced Robotic Systems, 2015. https://doi.org/10.5772/60972 es_ES
dc.description.references Zhan, M. and Yu, K. 2018. Wireless Communication Technologies in Automated Guided Vehicles: Survey and Analysis. IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society. https://doi.org/10.1109/IECON.2018.8592782 es_ES


Este ítem aparece en la(s) siguiente(s) colección(ones)

Mostrar el registro sencillo del ítem