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On multi-AGV systems for factory
logistics: the PAN-Robots project Lorenzo Sabattini
University of Modena and Reggio Emilia, Italy
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PAN-Robots project
• Name: Plug And Navigate ROBOTS for smart factories (PAN-ROBOTS)
• Included in Seventh Framework Programme (ICT)
• Duration: 36 months
• Start date: 1st November 2012
• End date: 31th October 2015
• Grant Agreement no: 314193
www.pan-robots.eu
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Partners
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Partners
1. Sick AG – Germany
2. Elettric 80 – Italy
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Partners
1. Sick AG – Germany
2. Elettric 80 – Italy
3. University of Modena e Reggio Emilia – Italy
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Partners
1. Sick AG – Germany
2. Elettric 80 – Italy
3. University of Modena e Reggio Emilia – Italy
4. Teknologian Tutkimuskeskus VTT – Finland
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Partners
1. Sick AG – Germany
2. Elettric 80 – Italy
3. University of Modena e Reggio Emilia – Italy
4. Teknologian Tutkimuskeskus VTT – Finland
5. Technical University of Cluj-Napoca – Romania
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Partners
1. Sick AG – Germany
2. Elettric 80 – Italy
3. University of Modena e Reggio Emilia – Italy
4. Teknologian Tutkimuskeskus VTT – Finland
5. Technical University of Cluj-Napoca – Romania
6. Coca-Cola Iberia Partners – Spain
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Main characteristics
Already working warehouses
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Main characteristics
Already working warehouses
Interaction with humans
(operators, manual forklifts, …)
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Safety
Interaction with humans
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Safety
Interaction with humans
SAFETY
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Safety
Interaction with humans
SAFETY
DECREASED EFFICIENCY
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Speed reduction
Speed reduction at intersections
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Queues
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Queues
An AGV stops due to an obstacle
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Queues
Queue of AGVs
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Centralized traffic management
Complex optimization
problem
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Improvements
• Enhanced perception
• Cooperation and sharing of information
• Advanced coordination
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Enhanced perception technologies
• Laser scanners
• Vision sensors 2D 3D
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Enhanced perception technologies
• Autonomous and precise mapping
• Object recognition and classification
– Semantic perception/action
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Enhanced perception technologies
• Autonomous and precise mapping
• Object recognition and classification
– Semantic perception/action
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Enhanced perception technologies
• Autonomous and precise mapping
• Object recognition and classification
– Semantic perception/action
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Enhanced perception technologies
• Autonomous and precise mapping
• Object recognition and classification
– Semantic perception/action
STOP!
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Enhanced perception technologies
• Autonomous and precise mapping
• Object recognition and classification
– Semantic perception/action
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Enhanced perception technologies
• Autonomous and precise mapping
• Object recognition and classification
– Semantic perception/action
BOX
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Enhanced perception technologies
• Autonomous and precise mapping
• Object recognition and classification
– Semantic perception/action
BOX
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Cooperative sensing
• Infrastructure sensors
• Onboard sensors
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Cooperative sensing
• Infrastructure sensors
• Onboard sensors
• Blind spot monitoring
• Observation of moving objects
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Coordination and traffic
management
Current solution:
1. Manual roadmap design
2. Static path planning
3. Manual traffic rules for coordination
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Coordination and traffic
management
Current solution:
1. Manual roadmap design
2. Static path planning
3. Manual traffic rules for coordination
PAN-Robots solution:
Automatic roadmap generation and dynamic path planning based on a hierarchical architecture
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Hierarchical architecture
• Higher layer:
– Plant divided in sectors
– Dynamic planning based on centralized information:
• Global state of the fleet
• Task assignment
Start
Goal
Goal
Start
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Hierarchical architecture
• Higher layer:
– Plant divided in sectors
– Dynamic planning based on centralized information:
• Global state of the fleet
• Task assignment
Start
Goal
Goal
Start
• Lower layer:
– Decentralized local coordination
– Local avoidance of deadlocks
– Local conflict resolution
?
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Automatic roadmap creation
Automatic roadmap creation
Objective:
• Coverage of the free space
• Redundancy
• Strongly connected
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Given an industrial plant…
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Automatic roadmap creation
Method:
1. Find corridors and intersections in the free space
2. Fill the corridors
3. Build the intersections
4. Assign Directions
5. Smooth the roadmap
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Find corridors and intersections
Medial Axis Transformation (MAT)
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Find corridors and intersections
Dal MAT
Regione con 1 Segmento => Corridoio
Regione con più di un segmento => Intersezione
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Automatic roadmap creation
Method:
1. Find corridors and intersections in the free space
2. Fill the corridors
3. Build the intersections
4. Assign Directions
5. Smooth the roadmap
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Fill the corridors
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Automatic roadmap creation
Method:
1. Find corridors and intersections in the free space
2. Fill the corridors
3. Build the intersections
4. Assign Directions
5. Smooth the roadmap
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Build the intersections
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Automatic roadmap creation
Method:
1. Find corridors and intersections in the free space
2. Fill the corridors
3. Build the intersections
4. Assign Directions
5. Smooth the roadmap
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Assign Directions
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Assign Directions
Best direction for mono-directional corridors?
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Assign Directions
Topological graph T:
• Strongly connected
• Maximize algebraic connectivity
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Automatic roadmap creation
Method:
1. Find corridors and intersections in the free space
2. Fill the corridors
3. Build the intersections
4. Assign Directions
5. Smooth the roadmap
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Smooth the roadmap
Straight lines + Bezier curves
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5 0 1 0 0 1 5 0 2 0 0 2 5 0 3 0 0 3 5 0 4 0 0 4 5 0 5 0 0 5 5 0
1 0 0
2 0 0
3 0 0
4 0 0
5 0 0
6 0 0
7 0 0
8 0 0
2 0 0 4 0 0 6 0 0 8 0 0 1 0 0 0 1 2 0 0
1 0 0
2 0 0
3 0 0
4 0 0
5 0 0
6 0 0
7 0 0
1 0 0 2 0 0 3 0 0 4 0 0 5 0 0 6 0 0 7 0 0 8 0 0 9 0 0
1 0 0
2 0 0
3 0 0
4 0 0
5 0 0
6 0 0
7 0 0
8 0 0
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Advertisement
Workshop on
Advanced Robotics for Industrial Logistics @ European Robotics Forum 2014
March 14th, 2014 (tomorrow), from 14.00 to 16.00
http://www.arscontrol.unimore.it/erf14
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Project Coordinator:
KAY FUERSTENBERG
SICK AG
Merkurring 20
22143 Hamburg, Germany
Project Dissemination Manager:
CESARE FANTUZZI
UNIVERSITY OF MODENA AND
REGGIO EMILIA
via Amendola 2, (pad. Morselli)
42122 Reggio Emilia, Italy
PAN-Robots is funded by the European Commission, under the 7th Framework Programme Grant Agreement n. 314193.
Presentation author:
LORENZO SABATTINI
UNIVERSITY OF MODENA AND REGGIO EMILIA
via Amendola 2, (pad. Morselli)
42122 Reggio Emilia, Italy