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Master's Dissertation
DOI
10.11606/D.18.2010.tde-14072010-170124
Document
Author
Full name
Kelen Cristiane Teixeira Vivaldini
Institute/School/College
Knowledge Area
Date of Defense
Published
São Carlos, 2010
Supervisor
Committee
Caurin, Glauco Augusto de Paula (President)
Becker, Marcelo
Romero, Roseli Aparecida Francelin
Title in Portuguese
Roteamento automático de empilhadeiras robóticas em armazém inteligente
Keywords in Portuguese
Desvio de obstáculos
Empilhadeiras robóticas
Planejamento de trajetória
Roteamento de AGVs
Abstract in Portuguese
Cada vez mais empilhadeiras robóticas são utilizadas para a tarefa de transporte em indústrias e armazéns. O gerenciamento dessas empilhadeiras é a chave para um sistema de transporte eficiente visando maximizar sua taxa de transferência. Um dos principais problemas na operação desses sistemas é a decisão de roteamento das empilhadeiras dentro dos depósitos. Este trabalho propõe um algoritmo de roteamento com a capacidade de realizar a otimização das rotas em tempo-real. Na computação da rota são considerados o desvio de obstáculos, as dimensões e as propriedades físicas das empilhadeiras, pois uma trajetória calculada deste ponto de referência está livre de colisões durante a execução do roteamento. Para realizar os testes foram utilizados os softwares Player/Stage, os quais permitem que simulações do funcionamento do sistema de roteamento sejam realizadas antes que os algoritmos sejam testados em robôs reais. Através dos testes simulados, analisou-se a capacidade de locomoção das empilhadeiras referente ao calculo da melhor rota no ambiente proposto, com o intuito de melhorar o ganho de performance no planejamento de trajetória.
Title in English
Automatic routing of robotic forklifts in intelligent warehouse
Keywords in English
Obstacle avoidance
Robotic forklifts
Routing of AGVs
Trajectory planning
Abstract in English
Forklift robots have been increasingly used in transport tasks in industries and warehouses. The key to an efficient transport system is held by a sound management of these forklifts that aim to maximize the transference rate. One of the main problems faced by the transportation systems is routing decision for forklifts within warehouse. The present paper proposes a routing algorithm to calculate optimal routes in real time. Therefore, its computation takes into account obstacle avoidance, the dimension and physical properties of the forklifts, since the calculated path regarding the routing is conflict-free. Simulations were carried out using the software Player/Stage before the algorithms were tested in a real robot. Simulated tests were analyzed in order to observe the locomotion ability of forklifts regarding calculation of the best route in the environment proposed to improve the trajectory planning performance will be assessed.
 
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KelenVivaldini.pdf (16.48 Mbytes)
Publishing Date
2010-07-23
 
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