Autonomous Transport Vehicles Where We Are and What Is Missing

被引：62

作者：

Andreasson, Henrik ^{[1
]}

Bouguerra, Abdelbaki ^{[1
]}

Cirillo, Marcello ^{[1
]}

Dimitrov, Dimitar Nikolaev ^{[2
]}

Driankov, Dimiter ^{[3
]}

Karlsson, Lars ^{[1
]}

Lilienthal, Achim J. ^{[1
]}

Pecora, Federico ^{[1
]}

Saarinen, Jari Pekka ^{[4
]}

Sherikov, Aleksander ^{[5
]}

Stoyanov, Todor ^{[6
]}

机构：

[1] Univ Orebro, Orebro, Sweden

[2] INRIA, Grenoble, France

[3] Oerebro Univ, Orebro, Sweden

[4] Aalto Univ, Espoo, Finland

[5] Ctr Rech Grenoble, Rhone Alpes, France

[6] Univ Orebro, Ctr Appl Autonomous Sensor Syst, Orebro, Sweden

来源：

IEEE ROBOTICS & AUTOMATION MAGAZINE | 2015年 / 22卷 / 01期

关键词：

SCAN REGISTRATION; DISTRIBUTIONS;

D O I：

10.1109/MRA.2014.2381357

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this article, we address the problem of realizing a complete efficient system for automated management of fleets of autonomous ground vehicles in industrial sites. We elicit from current industrial practice and the scientific state of the art the key challenges related to autonomous transport vehicles in industrial environments and relate them to enabling techniques in perception, task allocation, motion planning, coordination, collision prediction, and control. We propose a modular approach based on least commitment, which integrates all modules through a uniform constraint-based paradigm. We describe an instantiation of this system and present a summary of the results, showing evidence of increased flexibility at the control level to adapt to contingencies. © 1994-2011 IEEE.

引用

页码：64 / 75

页数：12

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