Development of a Complex Manufacturing Floor Material Handling System Using Guide-Path Independent Autonomous Vehicles

本研究的目的是研究高层次的全球性 多车辆路径规划和调度 统计模型和图形表示技术， 基于层次多传感器的局部路径规划与导航系统。 这些努力将支持开发一个综合体， 使用引导路径的制造车间物料搬运系统 独立的自动驾驶汽车。 本项目特别强调的工作包括 开发工厂车间的几何表示， 一种表示工厂中路径的图形; 车辆调度技术和防撞策略; 以及机载分层多处理器的发展 计算机系统，以支持智能的真实的时间操作 移动的机器人。一个实验系统的设计与实现 此外，亦会继续推行测试拟议方法的系统。

The objective of this research is to study high level global path planning and dispatching of multiple vehicles using statistical models and graph representation techniques and a low level multi-sensor based local path planning and navigation system. These efforts will support the development of a complex manufacturing floor material handling system using guide path independent autonomous vehicles. Particular efforts to be emphasized in this project include development of a geometric representation of the factory floor and a graph representation of the paths in a factory; development of vehicle dispatching techniques and a collision avoidance strategy; and the development of an onboard Hierarchical Mutiprocessor Computer System to support real time operation of an intelligent mobile robot. The design and implementation of an experimental system to test the proposed approaches will also be pursued.