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Curvilinear Traverse Generation Module for an AGV

Paul, Suresh Lazarus
http://rave.ohiolink.edu/etdc/view?acc_num=ucin1060885654

Abstract Details

2003, MS, University of Cincinnati, Engineering : Industrial Engineering.
The purpose of this thesis is to study the point-to-point navigation of an AGV in an unstructured environment. The problem under consideration is to compute the minimum distance of traverse of the AGV through a set of known points, where the routing through these points would determine the efficacy of the AGV to navigate the domain. The criticality of this study is to enhance the response of the AGV in exploring a specific domain. This response time is vital for minimizing power and fuel requirement of the AGV. The response of the AGV to any change in a straight-line direction is associated with the close down – resume characteristics. A close down-resume characteristic is a kind of straight-line operation of a vehicle when it has to stop in order to change the direction of its course. Hence, the number of target points in the domain would dictate the number of times that the AGV must stop and change its course. This routing is compared with a curvilinear path, which is formulated by generating a curve through the same target points. Since the curve has less change in directional properties compared to a straight-line, the AGV can respond without a close down-resume characteristics and perform a uniform velocity traverse, thereby, reducing the time for traverse through the domain. This study focuses on providing different methods of generating curves in a domain with a given set of target control points. The methods formulated in this study are curve-fitting using indexing reference points, which is a geometrical construction of a curvilinear path, Voronoi curve generation method, which uses the Voronoi principle for curve generation, and a hybrid curve generation method, which is a combination of the above two methods. The results of this study show the time required to travel in any area, given the optimum details of the terrain. There is a definite reduction of the time of travel by the AGV in comparison with the other navigation modules. It also proves to be safer to account for the maximum travel time for the AGV to explore, as its operation is restricted to fuel/power consumption. Further, the AGV can stop at any point on its travel and negotiate a reverse traverse back to the start point, if necessary. The significance of this study is to understand and interpret the higher flexibility of the vehicle to explore the domain by sending feedback on its surroundings in a curvilinear path. The constraint for navigation is avoiding collision with any significant obstacle in its track. The AGV is pre-functioned with the obstacle avoidance operational mode, and must be able to give the exact time required for the travel to be safe as required for its functionality.
Dr. Ernest L. Hall (Advisor)
57 p.
curvilinear traverse; navigational algorithm; mobile robots; AGV

Recommended Citations

Citations

  • Paul, S. L. (2003). Curvilinear Traverse Generation Module for an AGV [Master's thesis, University of Cincinnati]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1060885654

    APA Style (7th edition)

  • Paul, Suresh. Curvilinear Traverse Generation Module for an AGV. 2003. University of Cincinnati, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ucin1060885654.

    MLA Style (8th edition)

  • Paul, Suresh. "Curvilinear Traverse Generation Module for an AGV." Master's thesis, University of Cincinnati, 2003. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1060885654

    Chicago Manual of Style (17th edition)

ucin1060885654
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© 2003, all rights reserved.
This open access ETD is published by University of Cincinnati and OhioLINK.