In this paper we introduce a novel cloud robotics architecture that provides different functionalities to support enhanced coordination of groups of Automated Guided Vehicles (AGVs) used for industrial logistics. In particular, we define a cooperative data fusion system that, gathering data from different sensing sources, provides a constantly updated global live view of the industrial environment, for coordinating the motion of the AGVs in an optimized manner. In fact, local sensing capabilities are complemented with global information, thus extending the field of view of each AGV. This knowledge extension allows to support a cooperative and flexible global route assignment and local path planning in order to avoid congestion zones, obstacles reported in the global live view map and deal with unexpected obstacles in the current path. The proposed methodology is validated in a real industrial environment, allowing an AGV to safely perform an obstacle avoidance procedure.

Cooperative cloud robotics architecture for the coordination of multi-AGV systems in industrial warehouses / Cardarelli, Elena; Digani, Valerio; Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare. - In: MECHATRONICS. - ISSN 0957-4158. - 45:(2017), pp. 1-13. [10.1016/j.mechatronics.2017.04.005]

Cooperative cloud robotics architecture for the coordination of multi-AGV systems in industrial warehouses

Cardarelli, Elena;Digani, Valerio;Sabattini, Lorenzo;Secchi, Cristian;Fantuzzi, Cesare
2017

Abstract

In this paper we introduce a novel cloud robotics architecture that provides different functionalities to support enhanced coordination of groups of Automated Guided Vehicles (AGVs) used for industrial logistics. In particular, we define a cooperative data fusion system that, gathering data from different sensing sources, provides a constantly updated global live view of the industrial environment, for coordinating the motion of the AGVs in an optimized manner. In fact, local sensing capabilities are complemented with global information, thus extending the field of view of each AGV. This knowledge extension allows to support a cooperative and flexible global route assignment and local path planning in order to avoid congestion zones, obstacles reported in the global live view map and deal with unexpected obstacles in the current path. The proposed methodology is validated in a real industrial environment, allowing an AGV to safely perform an obstacle avoidance procedure.
2017
45
1
13
Cooperative cloud robotics architecture for the coordination of multi-AGV systems in industrial warehouses / Cardarelli, Elena; Digani, Valerio; Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare. - In: MECHATRONICS. - ISSN 0957-4158. - 45:(2017), pp. 1-13. [10.1016/j.mechatronics.2017.04.005]
Cardarelli, Elena; Digani, Valerio; Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare
File in questo prodotto:
File Dimensione Formato  
1-s2.0-S0957415817300521-main.pdf

Accesso riservato

Tipologia: Versione pubblicata dall'editore
Dimensione 6.12 MB
Formato Adobe PDF
6.12 MB Adobe PDF   Visualizza/Apri   Richiedi una copia
Pubblicazioni consigliate

Licenza Creative Commons
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/1156063
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 98
  • ???jsp.display-item.citation.isi??? 69
social impact