AGV：在柔性制造系統(tǒng)中尋路外文文獻(xiàn)翻譯、中英文翻譯

AGV：在柔性制造系統(tǒng)中尋路1介紹機(jī)器人技術(shù)的發(fā)展受到了用戶對(duì)機(jī)器人技術(shù)的新要求的影響服務(wù)產(chǎn)品的特性（質(zhì)量、數(shù)量和時(shí)間）。其中一個(gè)進(jìn)化或發(fā)展是柔性制造所使用的操縱器系統(tǒng)（FMS）在重復(fù)任務(wù)中具有明顯的優(yōu)勢(shì)（裝配、涂漆等）。）中。然而，這種結(jié)構(gòu)具有有限的運(yùn)動(dòng)與移動(dòng)機(jī)器人不同的是，在它周圍可以實(shí)現(xiàn)沿著工廠移動(dòng)，偏離障礙物，產(chǎn)生靈活性；不知疲倦的搜索行業(yè)。隨著導(dǎo)航技術(shù)的發(fā)展自主車輛和新增加工能力的增加計(jì)算機(jī)，應(yīng)用的可能性擴(kuò)大了。在國際層面上移動(dòng)機(jī)器人的應(yīng)用領(lǐng)域不限于工業(yè)領(lǐng)域；這是顯而易見的范圍更廣，也涉及后勤（分配和儲(chǔ)存）、海洋學(xué)以及水下探測(cè)、行星探測(cè)和軍事應(yīng)用。目前在業(yè)界，特別是在現(xiàn)有的移動(dòng)工業(yè)項(xiàng)目中機(jī)器人技術(shù)的主要目標(biāo)應(yīng)用是制造（工廠、電池和柔性制造系統(tǒng)）以及供應(yīng)鏈和倉儲(chǔ)物流和服務(wù)。在過去的幾年里，人們對(duì)AGV系統(tǒng)中的應(yīng)用技術(shù)，從涉及轉(zhuǎn)移和將材料裝載到簡單的檢查任務(wù)中。這包括控制車輛從起點(diǎn)到終點(diǎn)的移動(dòng)，提供了極大的減少風(fēng)險(xiǎn)、轉(zhuǎn)移時(shí)間和能源消耗方面的改進(jìn)。在在制造業(yè)中，常見的車輛類型是帶有拖車的AGV（牽引/拖拉）為運(yùn)輸、裝載和卸載材料而開發(fā)的以便在FMS內(nèi)工作。自動(dòng)增益控制系統(tǒng)被認(rèn)為當(dāng)代最合適的物料搬運(yùn)支撐模式之一靈活的自動(dòng)化生產(chǎn)環(huán)境。一般來說，這種系統(tǒng)包括一組相互配合的無人駕駛汽車生產(chǎn)設(shè)施的不同工作站和存儲(chǔ)場所。通常，AGV遵循嵌入其中一組預(yù)定的、物理的或虛擬的引導(dǎo)路徑設(shè)施布局，并由集中或分布式計(jì)算機(jī)協(xié)調(diào)-基礎(chǔ)控制系統(tǒng)。歸因于這些的一些主要優(yōu)點(diǎn)環(huán)境提高了路由靈活性、空間利用率和安全性，從而降低了總體運(yùn)營成本（Reveliotis，2000年）。對(duì)研究帶有拖車的AGV系統(tǒng)的設(shè)計(jì)和操作尤其涉及到電子、機(jī)械、控制和協(xié)同集成到項(xiàng)目、產(chǎn)品或制造中過程，創(chuàng)造了“機(jī)電一體化”的概念（Lengerke和Dutra，2007）。2柔性制造中自動(dòng)導(dǎo)引小車的導(dǎo)航與規(guī)劃系統(tǒng)FMS旨在同時(shí)制造各種物品或產(chǎn)品為單個(gè)產(chǎn)品提供可選的加工路線。靈活性尺寸可以表征為沒有布線靈活性、靈活性的替代方案機(jī)器、靈活的備選操作順序和充分的布線靈活性。這FMS路徑的規(guī)劃組件包括任務(wù)規(guī)劃器、導(dǎo)航器和飛行員。導(dǎo)軌設(shè)計(jì)是AGV系統(tǒng)設(shè)計(jì)中的重要問題之一首先要考慮的問題。導(dǎo)向路徑在很大程度上取決于車間空間布局、倉儲(chǔ)區(qū)布局及布局裝卸站（Le-Anh和DeKoster，2006年）。在大多數(shù)情況下，車間空間是固定的，并且它對(duì)導(dǎo)向路徑設(shè)計(jì)問題施加約束。這車輛引導(dǎo)路徑通常被表示為使得過道交叉、拾取和傳遞位置可以被視為由一組孤連接的圖形上的節(jié)點(diǎn)。孤描述了車輛從一個(gè)節(jié)點(diǎn)移動(dòng)到另一個(gè)節(jié)點(diǎn)時(shí)可以遵循的路徑。兩個(gè)節(jié)點(diǎn)之間的有向孤指示車輛流動(dòng)的方向。費(fèi)用可以指定給表示兩個(gè)端點(diǎn)之間距離的每個(gè)孤車輛沿弧線行駛所需的路段或時(shí)間。2.1.勢(shì)場法在過去的幾年中，潛在的場方法（PFM）用于避障在機(jī)器人領(lǐng)域的研究人員中越來越受歡迎移動(dòng)機(jī)器人。這種方法流行的原因之一是它的簡單性優(yōu)雅。在這項(xiàng)工中，已經(jīng)構(gòu)建的單元格和潛在字段的映射用于規(guī)劃本地路徑。其中一個(gè)目標(biāo)是研究一個(gè)用于AGV的導(dǎo)航系統(tǒng)，該導(dǎo)航系統(tǒng)允許使用潛在字段進(jìn)行導(dǎo)航無碰撞路徑從起點(diǎn)到終點(diǎn)，因此并提出了一些作者的建議。全氟辛烷磺酸1978年被哈提卜和勒密特帶到計(jì)算機(jī)世界同一作者，在后來的其他著作中（Khatib，1985年）。用作局部方法（Latombe，1991年），后來在全球戰(zhàn)略和主要用于移動(dòng)機(jī)器人的規(guī)劃和控制（Lengerke，2007年）。方法的基本思想是用填充AGV的工作區(qū)一種虛擬勢(shì)場，其中車輛被吸引到其目標(biāo)并被擊退遠(yuǎn)離障礙物（圖1）。圖1場的強(qiáng)度不依賴于粒子的速度場是徑向的；知道粒子之間的距離就足夠了勢(shì)函數(shù)完全。在此方法中，被視為x的位置在力場中移動(dòng)的點(diǎn)。目標(biāo)提供吸引力障礙，排斥力。盡管該方法最初被引入機(jī)械手，其在移動(dòng)機(jī)器人中的應(yīng)用也是可能的。勢(shì)場的方法可用于離線全局規(guī)劃，當(dāng)AGV的環(huán)境是先驗(yàn)已知的，如FMS的情況，或在線局部在環(huán)境未知且存在障礙的情況下進(jìn)行規(guī)劃由自動(dòng)增益?zhèn)鞲衅鳈z測(cè)。在虛擬勢(shì)場的影響下AGV在梯度的對(duì)稱方向上移動(dòng)最低電位區(qū)域的電位，梯度為空。但是虛擬勢(shì)場是一種不考慮限制的局部方法AGV的非完整，并提出了具有其他極小值的問題（局部）其中漸變?yōu)榭铡Ｒ虼?，AGV可以在局部極小值中被阻塞。提出了解決這一問題的方法，作為潛在性的定義幾個(gè)局部極小值（全局方法），以包括逃避局部的技術(shù)最小化、施加隨機(jī)力、協(xié)作或使用導(dǎo)航功能（沒有局部極小值的潛在函數(shù)）。用承青等配制成溶液艾爾。，（2000），在一部非常有趣的作品中，創(chuàng)造了虛擬障礙的概念消除已經(jīng)嘗試過的各種潛在功能的最大故障；這局部極小值。2.2,拖車式自動(dòng)導(dǎo)引車運(yùn)動(dòng)學(xué)模型一種具有拖車系統(tǒng)的AGV，其用于車輛的前部具有特定構(gòu)造的車輛和拖車的運(yùn)動(dòng)學(xué)對(duì)應(yīng)拖曳平臺(tái)。該系統(tǒng)是AGV的有趣擴(kuò)展并且可以制造成連接一個(gè)或多個(gè)拖車如在機(jī)場行李通道的車隊(duì)，申請(qǐng)運(yùn)輸在港口甚至在FMS中用于運(yùn)輸工業(yè)中的材料的容器。有許多微妙的問題可以用來模擬這些模型的局限性對(duì)拖車連接的精確點(diǎn)非常敏感的方程而且還在選擇身體的構(gòu)造。理論形式化拉托姆貝（1991年）和由Murray和Sastry（1993）提出，Bushnell等人。，（1995），勞蒙德，（1998），lamiraux（1998年）和Lavalle（2006年）。JournalofKONBiN5(8)200SISSN1895^281DOI10,2478/v10040-008-0106-7AUTOMATEDGLIDEDVEHICLES(AGV):SEARCHING

APATHINTHEFLEXIBLEMANUFACTURINGSYSTEMSPOJAZDYK1EROWANEAUTOMATVCZN1E(AGV):

POSZLK1WAN1EDROGIWELASTYCZNYCH

SYSTEMACHWYTVVARZANIAOmMrLcngtrke13,MaxS.Dutn?,FelipeM,G.Fruti^a2,

MngiluJ.M.Tavera1Me^halronitSys-teim&RoboticsResearchCkoup一COPPE/UFRJ

FederatUniversitycfRibdeJaneiro-CEP21.945-97Q-Riode」迎血皿RJ.Brazil

www.Iabrob.copfpe.uirj.brSystemEn^icieeringandComputerScienceProgram-COPPE/UFRJ

FederalUniversityofRiodeJaneiro,PostalBox6R.51L-RiodeJaneiro,RJ,BrazilMechatronicsEisgineeriaiiJ；Pribram.UN.AB.ALiEonoinoLb；UniversityofBticaraEnan|a-Bur細(xì)些汰Cbiombia,

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(JJolengerkeidL.cb.4bstruct:Manufacturingsystemsarcundergoingancticrablcevolutionduetoanintensetechnologicalprogress,inindustrialrobotics.SerialproductionhasevolvedintotheconceptofFlexibleManufacturingSystems(FMS).whichencapsulateprocessesinautomaticEquipmentthatarecapableofexecutingdifTcrcnloperations,thatbeforebepcrfbirncdin.severalstagesanddiverseequipments.AutomatedGuidedVehicle(AGV)systemshavebeenfrequentlyusedasmaterialhandlingequipmentinmanufacturingsystemssincethelasttwodecades.Particularly,AGV"swithtrailersarc,andwillcontinuetobe,thebackboneofthematerialtransportindustry.Theuseofthesesys-temshastakentheattentionofexpertsandresearchci3?TheyarcnumerousstudiesconcerningAGVwithtrailcn;systemsinliterature:fewofthemdealwiththeadaptatimofthesesystemsintoFMS.]nthispaper,astudyofthetrajectoriesandasimulationmodelofah^pothctica]system.,whichincluded11FMSenvironment,weredeveloped,inaddition,apotentialfield'smethodwasexploredinordertoimprovetheabilityofdetectingobstaclesinAGV'swithHailersmovingthroughstatiems.Keywords:FlexibleManufacturingSystems,.4utoiTiatcdGuidedVehicle,TrajectoriesPlanning.Streszczenie:Produkejascrjjna^ycwoluowalawkicrunkukonerpejiElastycznychSystemowWjiwarzania(FMSKktora.obejmujeproc碼ytechnologiczncu^'konywaneprzyzastosowaniuurzadzniautomatyki.Oddwochdekaddotransportuipodawaniamaterialowwsystcmachwyhvarzaniastosuje§i早cz^stoukladyPojazd6wKicrowanychAutomalycznk(AGV).Wszczegolno&ci.takicpqjazdyzprzyezrpamisaiwdalszjTnciqgub^daszkieJetem.sj'stem-dwdotransportumatcriaiowprodukcyjnych.WniniEjszymartykuleprzedstawionobadanianadirajcktoriami(trasamiprzejazdcjw}imodclcmsjinulacjjnymtakiegohipoteh'eznegosystcmiuktoryzostalopracowanyjakocz^scsrodowiskaElastycznychSystemowWytwarzania(FMS).Etodatkowozostalazbadanapcrteiiicjalnamelodabadari.wtercnicpozwalaj^canapopraw^wykrywnIncjKiprzeszkodntnidniaj^cychruchPojazdomKiciowanymAutomatj'czniczprzyczcpamiprzejezdzajacymiprzczstacjc.Stownkluczowe:Elaslj'czneSystemyWj^arzania(FMSKPojazdyKicrowanc.4utomatjrcznie(AGV、planowanictnyEklorii(Hasprzejazdow)1.IntroductiunHieevolutioinofroboticsisinfluencedbythenewdemandsofcustoniersonthecharacteristicsofproductsofservice(quality^quantityandtime).OneoftheseevolutiotisordevelopmentsarethemanipulatorsusedbyFlexibleMaimfacturiiigSystems(FMS),whichhaveobviousadvantagesonactinginrepetitiveMsks(assembly,painting,etc.).I[owever,suchstnictureshavelimitedmovementswithinit'ssurrounding,differentlyfrommobilerobots,thatcanaccoiiipEishmoveiTientsalongafactory,deviatingobstacles,producingflexibility；atirelesssearchoftheindustries.Withthedevelopmentofnavigationtechnologiesforautonomousvehiclesandtheincreaseoftheprocessingcapacityofdienewcomputers,applicationpossibilitiesareenlarged.Ontheinternationalplane,theapplicationfieldofmobilerobotsisnotrestrictedtothehidusrry;itissigEiificantlywider,alsoreachingtlieareasoflogistics(distributionandstorage),oceanographicandundem'aterexploration,planetaryexploration.,andmiIHairyapplications.Currentlyintheindustry、andspecificallyinexistingindustrialprojectsofmobilerobotics,themaintargetapplicationsareinnianutaciidrjng(factories,cellsandflexiblemanufacturingsystems)andinthelogisticsofsupplychain,andstorageandservices.IntheEastyears,therehasbeen,alotofinterestintliedevelopmentofappliedtechnologiesinAGVs9fromtheautomationoftasksinvolvingtransferandloadingofmaterialstosimpleinspectiontask5.Thisinvolvescontrollingthemovementofthevehicles,fromaninitialpointtoanendpoint,offeringgreatimprovementinthereductionofrisks,rimeoftrmsferandenergycoiisuniption.Inthemanufacturingindustry^commontypesofvehiclesareAGVswithtrailers(Tow/Tugger)thataredevelopedforthetrans.port.loadandunloadofmaterialsbetweendifferentstationstoworkwithintheFMS.AGVsystemsareconsideredasoneoftliemostappropriatemodesformaterialhandlingsupportofcontemporanf1flexiblyautomatedproductionenvironments.Ingeneralsuchasystemconsistsofasetofcooperatingdriverlessvehicleswhichtransportgoodsandimterialsamongthediftereiaiworkstationsandstoragesitesof8productionfhcility.UsuallyTAGVsfollowasetofpredetennined,physicalorvirtualguidepatlisembeddedintothefacilityhyout^andarecoordinatedbyacentralizedordistributedcomputerbasedcontrolsystem.SomeoftheprimaryadvantagesattributedtotheseenvironmentsareincreasedroutingfkKibility,spaceutiEizationandsafety,resultinginareducedoveralloperationalcost(Revelioiiis,2000).TheresearchonthedesignandoperationofAGVsystemswithtrailers,especially,involvehigliiyinte『disciplinarytechnologicalareassuchaselectronics,medianics,controlandcomputiingthaLsyiiergeticalyintegratedonprojectsandproductsortnanufacniririgprocesses,createdtheconceptofMechatronics"(LengerkeandDutra,2007).AuhmiafedGuidedVehicles(AGV):SeurehingaPathinrheFlexible...115Pqjawtfyk—mwHNE碩淋地哄三血，AGy):pos二ukNwi前ed『。更…2.NavigationandPlanntngofAGV'sonFlexibleManufacturingSystemsFMSisdesignedtomantifactureavarietyofitemsorproductssimultaneouslyandtoprovidealternativeprocessingroutesforindividualproducts.Tlieflexibilitydimensionscanbecharacterizedin.noroutingflexibility,flexiblealternativemachines,flexiblealternativeoperationsequencesandfullroutingflexibility.TlieplanningcomponentofpathsonFMSconsistsofamissionplanner,navigatorandpilot.GuidepathdesignisanimportantprobleminAGVsystemdesignandisoneofthevery1firnproblemstobeconsidered.Theguidepathdependsgreatlyontheallocationofshop-floorspaceTlayoutofstoragezonesandtliearrangementofhandlingstations(Le-AnhandDeKoster,2006).Inmostcases,theshop-floorspaceisfixedanditimposescotistrainisontheguide^pathdesignproblem.Thevehicleguide-pathisusuallyrepresentedsuchthataisleintersections,pick-upanddeliven'locationscanbeconsideredasnodesonagraphconnectedbyasetofarcs.Arcsdescribethepathsthatvehiclescanfollowwhenmovingfromnodetonode.Dtreetedarcsbetweentwonodesindicatethedirectionofthevehicleflow.Costcanbeassignedtoeacharcrepresentingthedislancebetweenthetwoendpointsofasegmentorthetianerequiredbyavehicletotravelalongthearc.2.1.PotentialFieldMethodsDuringthepastfewyears,potentialfieldmethods(PFM)forobstacleavoidancehavegainedtiicreasedpopularit}ramongresearchersinthefieldofrobots日ndmobilerobots.Oneofthereasonsforthepopularityofthismethodtsitssimplicityandelegance.Inthiswork,mapsofcellsalreadyconstructedandpotentialfieldsareused,forthepurposeofplanningforlocalpaths.OneofthegoalsistostudyanavigationsystemforanAGVthatallowsusingpotentialfields,tonavigatealongacollision-freepathfbnnaninitialpointtoanendpoint,consequentiy,itismadeadescriptionofthismethodandpresentedtheproposalsofsomeauthors.ThePFMwasbroughttothecomputerworldin1978byKhatibandLemaitreandreusedfordiesameauthors,inotherworklater(Kiiatib,1985).Usedasalocalmethod(Latombe,1991)andhavingbeen,later,widelyusedinglobalstrategiesanddomiciaiiitlyapproachedforplanningandcotitrolofmobilerobots(Lengerke,etai：r2.007).TheunderlyingideaofthemetliodistofilltheAGV'sworkspacewithavirtualpotentialfieldinwhichthevehicleisattractedtoitsgoalandisrepulsedawayfromtlieobstacles(Figure1)」LengerkeQ.,DutruM.S.,FrufnaF.M.G.TtiveruM.J.MUnauUienticatedDownloadLengerkeQ.,DutruM.S.,FrufnaF.M.G.TtiveruM.J.MUnauUienticatedDownloadDate|12/27/179:57AMFig.IInfluenceofpotentialfieldonAGVwithtrailers.Theintensityofthefielddoesnotdependonthevelocityofthepartkies,asthefieldisradial：itisenoughtoknowthedistancesamongparticlestogettodefinethepotentialfiinctioncompletely.Inthismethod,isconsideredxasapositionofapointthatmovesinaforcesfieJd.Tlietargetprovidesanattractiveforceandobstacles,repulsiveforces.Althoughthismethodhasbeeninitiallyintroducedtomanipulators,itsapplicationtomobilerobotsisalsopossible.ThePFMisnamedtotliefactthatthefield(vector)offorcesF(x)isderivedfbmithefield(scalar)potentialC(.￥),with:(1)TheAGVcontrolisobtainedsubjectingittothevirtualpotentialfielddeierminedbv:WhereLr(x)i§theresultantpotentialnUafristheattractivepotential(Figure2)generatedbytargetpoint1)網(wǎng)istherepulsivepotential(Figure2)generatedbytheobstaclesand[=(.「yfistheposition,vectorofAGVActuatevirtualforceF(x)intheAGVisdefinedbythecommandvectoroftiieequation⑶.Whereisanattractiveforcethatguidesthecontrolpointoftherobottothetarget,andF叫isaforcewhichinducesavirtualrepulsionthesurfaceoftheobstacleproducedbyt/呵⑴一ObstaclesAuhmiaiedGuidedVehicles(AGIO：SeurehhigaPciihintheFlexible....117P”/由氾VutHomgM麗蹌(AGK)：/xxmMAim企dm金…點(diǎn)"皿小笙ForER叩點(diǎn)"皿小笙ForER叩tH*沁sFig.2Attractivepotentialfieldgeneratedbyatargetpointandtheirinducedforces(left)andrepulsivepotentialfieldgeneratedbyanobstacleandtheirinducodforces(right)[4].ThecdctilationproposedbyKhatib(1985)oftheattractivecomponentisperfbmiedusingaquadraticrelationsliip(parabolicfunction)notnegative,whose—?—?firstderivediscontinuesanditpossessesasinglenullvaluemx=工的andthat—*■-*depends,onthepositionsofAGV(x)center,andofthetarget(腳)definedfor:虬J=)=疝-日M⑷Wherel；isafactorofpositivescaleofattractivepotentialfietd.Theinducedforcebyattractivepotentialfieldi&ceitainfromtheequation(3)andresultsin:TheartificialpotentialfielddefinedcondiLLcestoastabl