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Article

Coordinated Multi-Robotic Vehicles Navigation and Control in Shop Floor Automation

1
Faculty of Electrical Engineering, University of Ljubljana, Tržaška 25, SI-1000 Ljubljana, Slovenia
2
Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia
*
Author to whom correspondence should be addressed.
Academic Editor: Jesús Ureña
Sensors 2022, 22(4), 1455; https://doi.org/10.3390/s22041455
Received: 16 January 2022 / Revised: 28 January 2022 / Accepted: 31 January 2022 / Published: 14 February 2022
(This article belongs to the Special Issue Advanced Sensors Technologies Applied in Mobile Robot)
In this paper, we propose a global navigation function applied to model predictive control (MPC) for autonomous mobile robots, with application to warehouse automation. The approach considers static and dynamic obstacles and generates smooth, collision-free trajectories. The navigation function is based on a potential field derived from an E* graph search algorithm on a discrete occupancy grid and by bicubic interpolation. It has convergent behavior from anywhere to the target and is computed in advance to increase computational efficiency. The novel optimization strategy used in MPC combines a discrete set of velocity candidates with randomly perturbed candidates from particle swarm optimization. Adaptive horizon length is used to improve performance. The efficiency of the proposed approaches is validated using simulations and experimental results. View Full-Text
Keywords: navigation; model predictive control; path planing; mobile robots; warehouse automation navigation; model predictive control; path planing; mobile robots; warehouse automation
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MDPI and ACS Style

Klančar, G.; Seder, M. Coordinated Multi-Robotic Vehicles Navigation and Control in Shop Floor Automation. Sensors 2022, 22, 1455. https://doi.org/10.3390/s22041455

AMA Style

Klančar G, Seder M. Coordinated Multi-Robotic Vehicles Navigation and Control in Shop Floor Automation. Sensors. 2022; 22(4):1455. https://doi.org/10.3390/s22041455

Chicago/Turabian Style

Klančar, Gregor, and Marija Seder. 2022. "Coordinated Multi-Robotic Vehicles Navigation and Control in Shop Floor Automation" Sensors 22, no. 4: 1455. https://doi.org/10.3390/s22041455

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