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On multi-AGV systems for factory
logistics: the PAN-Robots project Lorenzo Sabattini
University of Modena and Reggio Emilia, Italy
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
Partners
Partners
1. Sick AG – Germany
2. Elettric 80 – Italy
Partners
1. Sick AG – Germany
2. Elettric 80 – Italy
3. University of Modena e Reggio Emilia – Italy
Partners
1. Sick AG – Germany
2. Elettric 80 – Italy
3. University of Modena e Reggio Emilia – Italy
4. Teknologian Tutkimuskeskus VTT – Finland
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
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
Main characteristics
Already working warehouses
Main characteristics
Already working warehouses
Interaction with humans
(operators, manual forklifts, …)
Safety
Interaction with humans
Safety
Interaction with humans
SAFETY
Safety
Interaction with humans
SAFETY
DECREASED EFFICIENCY
Speed reduction
Speed reduction at intersections
Queues
Queues
An AGV stops due to an obstacle
Queues
Queue of AGVs
Centralized traffic management
Complex optimization
problem
Improvements
• Enhanced perception
• Cooperation and sharing of information
• Advanced coordination
Enhanced perception technologies
• Laser scanners
• Vision sensors 2D 3D
Enhanced perception technologies
• Autonomous and precise mapping
• Object recognition and classification
– Semantic perception/action
Enhanced perception technologies
• Autonomous and precise mapping
• Object recognition and classification
– Semantic perception/action
Enhanced perception technologies
• Autonomous and precise mapping
• Object recognition and classification
– Semantic perception/action
Enhanced perception technologies
• Autonomous and precise mapping
• Object recognition and classification
– Semantic perception/action
STOP!
Enhanced perception technologies
• Autonomous and precise mapping
• Object recognition and classification
– Semantic perception/action
Enhanced perception technologies
• Autonomous and precise mapping
• Object recognition and classification
– Semantic perception/action
BOX
Enhanced perception technologies
• Autonomous and precise mapping
• Object recognition and classification
– Semantic perception/action
BOX
Cooperative sensing
• Infrastructure sensors
• Onboard sensors
Cooperative sensing
• Infrastructure sensors
• Onboard sensors
• Blind spot monitoring
• Observation of moving objects
Coordination and traffic
management
Current solution:
1. Manual roadmap design
2. Static path planning
3. Manual traffic rules for coordination
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
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
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
?
Automatic roadmap creation
Automatic roadmap creation
Objective:
• Coverage of the free space
• Redundancy
• Strongly connected
Given an industrial plant…
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
Find corridors and intersections
Medial Axis Transformation (MAT)
Find corridors and intersections
Dal MAT
Regione con 1 Segmento => Corridoio
Regione con più di un segmento => Intersezione
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
Fill the corridors
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
Build the intersections
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
Assign Directions
Assign Directions
Best direction for mono-directional corridors?
Assign Directions
Topological graph T:
• Strongly connected
• Maximize algebraic connectivity
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
Smooth the roadmap
Straight lines + Bezier curves
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
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
Project Coordinator:
KAY FUERSTENBERG
SICK AG
Merkurring 20
22143 Hamburg, Germany
kay.fuerstenberg@sick.de
Project Dissemination Manager:
CESARE FANTUZZI
UNIVERSITY OF MODENA AND
REGGIO EMILIA
via Amendola 2, (pad. Morselli)
42122 Reggio Emilia, Italy
cesare.fantuzzi@unimore.it
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
lorenzo.sabattini@unimore.it
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