简介：\\r\\nWith the increase in international trade, the transshipment of goods at internationalcontainer ports is very busy. The AGV (Automated Guided Vehicle) has been used as anew generation of automated container horizontal transport equipment. The AGV is anautomated unmanned vehicle that can work 24 hours a day, increasing productivity andreducing labor costs compared to using container trucks. The ability to obtaininformation about the surrounding environment is a prerequisite for the AGV toautomatically complete tasks in the port area. At present, the method of AGV based onRFID tag positioning and navigation has a problem of excessive cost. This dissertationhas carried out a research on applying light detection and ranging (LIDAR)simultaneous localization and mapping (SLAM) technology to port AGV. In thismaster\'s thesis, a mobile test platform based on a laser range finder is developed to scan360-degree environmental information (distance and angle) centered on the LIDAR andupload the information to a real-time database to generate surrounding environmentalmaps, and the obstacle avoidance strategy was developed based on the acquiredinformation. The effectiveness of the platform was verified by the experiments frommultiple scenarios. Then based on the first platform, another experimental platformwith encoder and IMU sensor was developed. In this platform, the functionality ofSLAM is enabled by the GMapping algorithm and the installation of the encoder andIMU sensor. Based on the established environment SLAM map, the path planning andobstacle avoidance functions of the platform were realized.
简介：One of the objectives of the master thesis is to study the state of the art of Automated Guided Vehicles used in industry. The main objective is to propose how AGVs could be applied to commercial aircraft manufacturing industry and which tasks could be performed by these AGVs. The final objective is to find the best wheel configurations to use for the AGVs in the aerospace industry. The methodology that is going to be used to achieve the objectives is: • Research academic papers about omnidirectional vehicles. • Research current manufacturers of AGVs and their solutions. • Analyse the different approaches to AGVs found in the previous points. Type of wheels, number of wheels, geometrical disposition of the wheels, etc. • Compare the different approaches to AGVs found and analyse their strengths and weaknesses. • Propose innovative wheel arrangements for AGVs. • Analyse the proposed innovative wheel arrangements and find applications in the commercial aircraft manufacturing industry for them. • For each configuration, formulate closed kinematic expressions: calculate the required rotation speed of each wheel for a given vehicle velocity. An overview of the commercial aircraft manufacturing industry and the possible roles of the AGVs in this industry is given in Chapter 1. The theoretical fundamentals used to generate the control matrices of AGVs are given in the Chapter 2. The state of the art of AGVs used in industry is studied in Chapters 3 and 4. Innovative AGV configurations with high manoeuvrability are proposed and studied in Chapter 5. These include the use of Swedish wheels, which are also overviewed in Chapter 5. Chapter 6 is devoted to concluding remarks.
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