With the trend toward more connected and automated industries, the benefits of an open-source version of standard solutions become clear. It is common place to use proprietary Automated Guided Vehicles (AGV); however, using open-source Autonomous Mobile Robot (AMR) solutions would allow smaller and medium-sized businesses to compete with larger businesses. Implementing an open-source solution would require adapting a mapping technique that it will use. The study compares using a predefined map and a dynamically run-time generated map and the difference in time from start to destination and the distance traveled. The results show that the dynamic and predefined perform better or worse depending on the environment. Using predefined mapping indicates an overall better solution for industries because while the distance and time are pretty close, the variance difference is too significant for an environment that requires consistency.

This contribution discusses a new control concept (compare Boden et al., 2021) that allows transport load exchange in hybrid AMHS. It focuses on vehicles able to perform load exchange dynamically by splitting transport requests into sub-tasks determined ad-hoc depending on the current system status. Unlike conventional control approaches for hybrid AMHS, our dispatching approach does not rely on high-level control rules which statically split transport tasks in advance.

Cada vez mais robôs móveis autônomos estão sendo utilizados em diversas tarefas e em ambientes com elevado risco para atividades humanas que a paralisação de suas atividades podem gerar outros riscos, perdas e elevados custos. Assim, o estado de carga (SOC) de sistemas de baterias em robôs móveis autônomos é um parâmetro importante na prevenção de uma falha primária nessa aplicação, a ausência de energia. Este trabalho apresenta os métodos existentes na literatura para a determinação do estado de carga de baterias e as tecnologias de baterias disponíveis utilizadas em robôs móveis autônomos ou veículos autônomos guiados. A partir desses estudos foi desenvolvido um modelo de medida, baseado no modelo combinado e foram realizados testes de bancadas para levantamento dos parâmetros e características de três modelos de células de baterias: Lítio Polímero (Li-PO), Níquel-Cádmio (NiCd) e Lítio-Ferro-Polímero (LiFePO4). Com esses parâmetros, aplicou-se o método de estimativa de carga baseado na técnica do Filtro de Kalman Estendido (EKF). Através dos testes, analisou-se comparativamente a resposta do método proposto e a resposta do método OCV e a capacidade de carga real. / Autonomous mobile robots have being increasingly used in various tasks, environments and activities of high risk to human that the stoppage of its activities may generate other risks, losses and high costs. Thus the state of charge (SOC) of battery systems in autonomous mobile robots, is an important parameter to prevent a primary failure in this application, the lack of energy. The paper presents the existing methods in the literature to determine the battery state of charge and battery commercial technologies available used in an autonomous mobile robot or autonomous guided vehicle, from these studies a measurement model based on combined model was developed and testing benches for three cells models on Lithium Polymer Battery (Li-PO), Nickel Cadmium (NiCd) and lithium-iron-Polymer (LiFePO4) batteries were performed for lifting the parameters and apply the battery state of charge method based on the Extended Kalman Filter (EKF) technique. The tests were analyzed in order to observe the comparatively response of the proposed method, the OCV method and Real charge capacity.

Made available in DSpace on 2016-06-02T19:05:50Z (GMT). No. of bitstreams: 1 3678.pdf: 5394148 bytes, checksum: 4abd3e7ce4acac9d5890eae3620c06d3 (MD5) Previous issue date: 2011-06-14 / Financiadora de Estudos e Projetos / In recent years, most companies apply techniques of industrial automation with the goal of increasing its efficiency. Increasingly Automated Guided Vehicles (AGVs) are used to transport work in factories and warehouses. The management of these AGV is the key to an efficient transport system. One of the main problems encountered in the management of AGV is the dispatching decision. This work proposes a method of dispatching of AGV with the ability to optimize the performance of flexible manufacturing systems (FMS) in real time. In the dispatching deciding can be chosen to optimize two objectives: makespan or tardiness. When the goal is to optimize the makespan are evaluated variables: distance, number of nodes, the input buffer and output buffer of the workstation. When the goal is to optimize the tardiness are evaluated variables: distance, number of nodes, task chaining, date of delivery. In both cases are also considered the time of the AGVs and the processing times of the workstations, so you can anticipate some decision-making. To perform the tests we used the softwares: Matlab, CPNtools and Automod, which allow simulations of how the method works dispatching AGVs before the method is implemented in factories. Based on the tests, we analyzed the improvement in makespan and tardiness compared to other studies, but also the flexibility of the method in which it is possible to exchange goals in operating time. / Nos últimos anos, mais empresas aplicam técnicas de automação industrial com o objetivo de aumentar sua eficiência. Cada vez mais Veículos Auto Guiados (AGVs) são usados para tarefa de transporte em indústrias e armazéns. O gerenciamento desses AGVs é a chave para um sistema de transporte eficiente. Um dos principais problemas encontrados no gerenciamento dos AGVs é a decisão de despacho. Esse trabalho propõe um método de despacho de AGV com capacidade de otimizar o desempenho de Sistemas Flexíveis de Manufatura (FMS) em tempo real. Na tomada de decisão do despacho podem ser escolhidos dois objetivos para otimização: makespan ou tardiness. Quando o objetivo é otimizar o makespan são avaliadas as variáveis: distância, número de nós, buffer de entrada e buffer de saída das estações de trabalho. Quando o objetivo é otimizar o tardiness são avaliadas as variáveis: distância, número de nós, encadeamento de tarefas, data de entrega do produto. Em ambos os casos também são considerados os tempos dos AGVs e os tempos de processamento das estações de trabalho, para que seja possível adiantar algumas tomadas de decisões. Para realizar os testes foram usados os softwares MatLab, CPNtools e Automod, os quais permitem que simulações do funcionamento do método de despacho de AGVs antes que o método seja implementado em fábricas. Com base nos testes realizados, analisou-se as melhoras no makespan e tardiness em comparação com outros trabalhos, como também a flexibilidade do método no qual é possível a troca de objetivos em tempo de operação.

Cada vez mais robôs móveis autônomos estão sendo utilizados em diversas tarefas e em ambientes com elevado risco para atividades humanas que a paralisação de suas atividades podem gerar outros riscos, perdas e elevados custos. Assim, o estado de carga (SOC) de sistemas de baterias em robôs móveis autônomos é um parâmetro importante na prevenção de uma falha primária nessa aplicação, a ausência de energia. Este trabalho apresenta os métodos existentes na literatura para a determinação do estado de carga de baterias e as tecnologias de baterias disponíveis utilizadas em robôs móveis autônomos ou veículos autônomos guiados. A partir desses estudos foi desenvolvido um modelo de medida, baseado no modelo combinado e foram realizados testes de bancadas para levantamento dos parâmetros e características de três modelos de células de baterias: Lítio Polímero (Li-PO), Níquel-Cádmio (NiCd) e Lítio-Ferro-Polímero (LiFePO4). Com esses parâmetros, aplicou-se o método de estimativa de carga baseado na técnica do Filtro de Kalman Estendido (EKF). Através dos testes, analisou-se comparativamente a resposta do método proposto e a resposta do método OCV e a capacidade de carga real. / Autonomous mobile robots have being increasingly used in various tasks, environments and activities of high risk to human that the stoppage of its activities may generate other risks, losses and high costs. Thus the state of charge (SOC) of battery systems in autonomous mobile robots, is an important parameter to prevent a primary failure in this application, the lack of energy. The paper presents the existing methods in the literature to determine the battery state of charge and battery commercial technologies available used in an autonomous mobile robot or autonomous guided vehicle, from these studies a measurement model based on combined model was developed and testing benches for three cells models on Lithium Polymer Battery (Li-PO), Nickel Cadmium (NiCd) and lithium-iron-Polymer (LiFePO4) batteries were performed for lifting the parameters and apply the battery state of charge method based on the Extended Kalman Filter (EKF) technique. The tests were analyzed in order to observe the comparatively response of the proposed method, the OCV method and Real charge capacity.

Background: By optimizing a company's internal flows, several benefits, including reduction of waiting time and incidents, can be generated. A relevant starting point for the concept of lean production is the effort to reduce the amount of waste. A variant of an improvement tool is a so-called spaghetti diagram. This tool is considered optimal partly to reduce the amount of waste associated with the current layout and the flows that exist in the warehouse, and partly to get a picture of what safety looks like and how it could be optimized. This with regard to the way forklifts and people may relate to each other to avoid incidents, including collisions. Purpose: The purpose of the paper is, based on Volvo CE Braås logistics center, to study today's internal transport flows, its frequency and challenges associated with these in terms of safety and productivity. Furthermore, the purpose is to examine the corresponding transport flows in Volvo CE Braås logistics layout 2025, its frequency and how challenges related to safety and productivity at this stage can be addressed. Method: The study involves a qualitative approach where a case study has been conducted. Primary and secondary data has been collected in the form of both semi-structured and unstructured interviews. To create a well-founded analysis, pattern comparison has been chosen as the approach for the analysis method. This is because a theoretical basis is seen in relation to the basis that has been obtained from Volvo CE Braås, in order to obtain as well-founded a result as possible. Results: Regarding the frequency of transports in and out of the Volvo CE Braås logistics center in the current logistics layout, challenges have been identified in terms of safety and productivity. Challenges related to safety have turned out to be high frequency of internal transports, pedestrians and crossing flows. In terms of productivity, challenges also include the high frequency of internal transports and pedestrians moving in and out of the logistics center. Regarding future safety challenges in the 2025 logistics layout, they could be addressed by introducing one-way areas, optimizing the number of trucks, providing safety information and introducing automatic measurement of internal transports. In terms of productivity challenges, these could be addressed by introducing one-way areas, maintaining good communication, optimizing the number of trucks, providing safety information, offering training and introducing separate placement of AGVs and a separate loading area for trucks. / Bakgrund: Genom att optimera en verksamhets interna flöden kan flertalet fördelar, däribland reducering av väntetid och incidenter, genereras. En relevant utgångspunkt för begreppet lean production är strävan efter att reducera mängden slöserier. En variant av förbättringsverktyg är ett så kallat spagettidiagram. Detta verktyg anses vara optimalt dels för att reducera mängden slöserier med koppling till rådande layout och de flöden som existerar i lagret, dels för att få en bild av hur säkerheten ser ut och hur denna skulle kunna optimeras. Detta med avseende på vilket sätt truckar och människor får förhålla sig till varandra för att undvika incidenter, däribland kollisioner. Syfte: Syftet med uppsatsen är att, med utgångspunkt i Volvo CE Braås logistikcentrum, studera dagens interna transportflöden, dess frekvens samt utmaningar förknippade med dessa beträffande säkerhet och produktivitet. Vidare är syftet att undersöka motsvarande transportflöden i Volvo CE Braås logistiklayout 2025, dess frekvens samt hur utmaningar sett till säkerhet och produktivitet i detta skede kan angripas. Metod: Studien innefattas av ett kvalitativt tillvägagångssätt där en fallstudie har genomförts. För att skapa underlag till studien har primär- och sekundärdata samlats in i form av både semistrukturerade- och ostrukturerade intervjuer. För att skapa en  välgrundad analys har mönsterjämförelse valts som tillvägagångssätt för analysmetoden. Detta i och med att ett teoretiskt underlag ses i relation till det underlag som har erhållits från Volvo CE Braås, för att i sin tur erhålla ett så välgrundat resultat som möjligt. Resultat: Beträffande frekvensen av transporter inom och ut från Volvo CE Braås logistikcentrum i dagens logistiklayout, har utmaningar identifierats sett till säkerhet och produktivitet. Utmaningar med koppling till säkerhet har visat sig vara hög frekvens av de interna transporter som sker, fotgängare samt korsande flöden. Sett till produktivitet är utmaningar även här att det råder en hög frekvens av de interna transporterna samt att fotgängare rör sig inom och ut från logistikcentrum. Med avseende på framtida säkerhetsutmaningar i logistiklayouten 2025, skulle de kunna angripas genom att införa enkelriktade områden, optimera antalet truckar, ge säkerhetsinformation och införa automatisk mätning av interna transporter. Sett till produktivitetsutmaningar kan dessa angripas genom att även här införa enkelriktade områden, upprätthålla en god kommunikation, optimera antalet truckar, ge säkerhetsinformation, erbjuda utbildning och införa separat placering av AGV samt införa ett separat laddningsutrymme för truckar.

Logistics plays a crucial role in companies’ ability to sustain competitive on the market. Time is regarded as one of the important metric in terms of logistics, since time influences the lead time of the products, which results in the vital advantage of speed. The recent business environment forces Kinnarps Production AB, a manufacturer of furniture, to optimize their inventory material flow in a way of increasing their capability and capacity to load more distribution containers with goods daily. The present circumstances of the material flow are associated with number of negative factors. An automated guided vehicle (AGV) system is operating and handling the distribution of goods. Wrong sequence of activities, long transportations, high transportation delays, waiting time, varying numbers of AGVs, wastes, bottlenecks are among the important issues to be considered. The purpose of this thesis is to analyze the material flow in Kinnarps Production AB’s inventory seven and to improve the AGV system activities within. Concepts associated with identifying waste were used by separating value-adding activities from the non-value added ones. The usage of ideal reference systems techniques were the base for identifying problems. Concrete literature regarding AGV’s design system was applied in establishing different statements about the material flow and identification of problems. Different methods and techniques were used in approaching the research, but most above others is the case study approach. Numerous amounts of secondary data have been employed in verifying the collection of other data carried out by primary data collection as well as verifying the qualitative and quantitative analysis. A mapping of the current system was established with respect to orders, times and distances. Numbers of congestion points were identified, non-value adding activities were eliminated or decreased, rearrangement of sequencing of different activities was considered and different pallets arrangement system was established. A stochastic model was used in identifying the AGV’s time variables in the system and estimating appropriate amount of AGVs within the inventory. All the findings from different calculations and estimations were associated with Kinnarps Production’s future increased demand. Different issues and considerations were analyzed and appropriate suggestions were given for elimination of the negative factors in the inventory or their decrease. Among the most influencing results was the proper amount of AGVs in the inventory area, pallets rearrangement, different stocking policy, rearrangement in the sequence of activities, increase of the buffer for pallets used for loading containers, new conveyor system for the incoming goods in the inventory, transportation layout changes resulting in blocking free routines, separate control system, decrease of the effect of stoppages. All these findings are considered to optimize the material flow and increase the system capacity contributing to an increase of the daily containers outgoing from Kinnarps Production AB.

<p>Logistics plays a crucial role in companies’ ability to sustain competitive on the market. Time is regarded as one of the important metric in terms of logistics, since time influences the lead time of the products, which results in the vital advantage of speed. The recent business environment forces Kinnarps Production AB, a manufacturer of furniture, to optimize their inventory material flow in a way of increasing their capability and capacity to load more distribution containers with goods daily. The present circumstances of the material flow are associated with number of negative factors. An automated guided vehicle (AGV) system is operating and handling the distribution of goods. Wrong sequence of activities, long transportations, high transportation delays, waiting time, varying numbers of AGVs, wastes, bottlenecks are among the important issues to be considered.</p><p>The purpose of this thesis is to analyze the material flow in Kinnarps Production AB’s inventory seven and to improve the AGV system activities within.</p><p>Concepts associated with identifying waste were used by separating value-adding activities from the non-value added ones. The usage of ideal reference systems techniques were the base for identifying problems. Concrete literature regarding AGV’s design system was applied in establishing different statements about the material flow and identification of problems. Different methods and techniques were used in approaching the research, but most above others is the case study approach. Numerous amounts of secondary data have been employed in verifying the collection of other data carried out by primary data collection as well as verifying the qualitative and quantitative analysis.</p><p>A mapping of the current system was established with respect to orders, times and distances. Numbers of congestion points were identified, non-value adding activities were eliminated or decreased, rearrangement of sequencing of different activities was considered and different pallets arrangement system was established. A stochastic model was used in identifying the AGV’s time variables in the system and estimating appropriate amount of AGVs within the inventory.</p><p>All the findings from different calculations and estimations were associated with Kinnarps Production’s future increased demand. Different issues and considerations were analyzed and appropriate suggestions were given for elimination of the negative factors in the inventory or their decrease. Among the most influencing results was the proper amount of AGVs in the inventory area, pallets rearrangement, different stocking policy, rearrangement in the sequence of activities, increase of the buffer for pallets used for loading containers, new conveyor system for the incoming goods in the inventory, transportation layout changes resulting in blocking free routines, separate control system, decrease of the effect of stoppages. All these findings are considered to optimize the material flow and increase the system capacity contributing to an increase of the daily containers outgoing from Kinnarps Production AB.</p>

The field of robotics is becoming increasingly more important and consequently, students need better tools to gain knowledge and experience with them. The University of Skövde was interested in developing a learning tool focused on a virtual simulation of mobile robots. Despite the fact that there are several programmes to create this tool, MATLAB was preferable because of its strong presence in educational institutions. The objectives were oriented towards testing different robot kinematics in an adjustable virtual 3D environment. Moreover, the simulation needed a part in which future users could design own algorithms in order to control the AGVs. Therefore, sensors such as LIDAR sensors were necessary to enable a possible interaction between the robot and the scenario created. This project was developed with a previous study and a comparison of some MATLAB projects and tools. After that, the scenario and the simulation were produced. As a result, a virtual simulation has been created emphasising that the user could modify and adapt multiple parameters such as the size of the AGV, the form of the virtual environment or the selection of forward or inverse kinematics in order to develop different types of algorithms. Other features can be adjusted manually such as the type or number of sensors as well as SLAM conditions. Finally, this thesis was conducted to give a basis about mobile robots and to be a first step for operating with real robots. The simulation also provides an easy to use interface in which students can keep working in it through the introduction of new applications related to image processing or more sophisticated algorithms and controllers.

The purpose of this thesis is to investigate different control strategies on a differential drive vehicle. The vehicle should be able to drive in turns at high speed and slowly when it should park next to a charger. In both these cases, good precision in both orientation and distance to the path is important. A PID and an LQ controller have been implemented for this purpose. The two controllers were first implemented in a simulation environment. After implementing the controllers on the system itself, tests to evaluate the controllers were made to imitate real-life situations. This includes tests regarding driving with different speeds in different turns, tests with load distributions, and tests with stopping accuracy. The existing controller on the system was also tested and compared to the new controllers. After evaluating the controllers, it was stated that the existing controller was the most robust. It was not affected much by the load distribution compared to the new controllers. However, the LQ controller was slightly better in most cases, even though it was highly affected by the load distribution. The PID controller performed best regarding stopping accuracy but was the least robust controller by the three. Since the existing controller has a similar performance as the LQ controller but is more robust, the existing controller was chosen as the best one.