OzTug mobile robot for manufacturing transportation
Firstly, this paper introduces the OzTug mobile robot developed to autonomously manoeuvre large loads within a manufacturing environment. The mobile robot utilises differential drive and necessary design criteria includes low-cost, mechanical robustness, and the abPility to manoeuvre loads ranging u...
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| creator | Horan, B. Najdovski, Z. Black, T. Nahavandi, S. Crothers, P. |
| description | Firstly, this paper introduces the OzTug mobile robot developed to autonomously manoeuvre large loads within a manufacturing environment. The mobile robot utilises differential drive and necessary design criteria includes low-cost, mechanical robustness, and the abPility to manoeuvre loads ranging up to 2000kg. The robot is configured to follow a predefined trajectory while maintaining the forward velocity of a user-specified velocity profile. A vision-based fuzzy logic line following controller enables the robot to track the paths on the floor of the manufacturing environment. Secondly, in order to tow large loads along predefined paths three different robot-load configurations are proposed. Simulation within the Webots environment was performed in order to empirically evaluate the three different robot-load configurations. The simulation results demonstrate the cost-performance trade-off of two of the approaches. |
| doi_str_mv | 10.1109/ICSMC.2011.6084220 |
| format | Conference Proceeding |
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The simulation results demonstrate the cost-performance trade-off of two of the approaches.</description><subject>AGV</subject><subject>Cameras</subject><subject>Couplings</subject><subject>manufacturing</subject><subject>mobile robot</subject><subject>Mobile robots</subject><subject>Robot kinematics</subject><subject>robot transportation</subject><subject>Robot vision systems</subject><subject>Wheels</subject><issn>1062-922X</issn><issn>2577-1655</issn><isbn>9781457706523</isbn><isbn>1457706520</isbn><isbn>1457706539</isbn><isbn>9781457706530</isbn><isbn>9781457706516</isbn><isbn>1457706512</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2011</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo1j8tKw0AYRscbmNa-gG7yAonzz32WEqwWKl1YwV2ZZOYvkSYpk8lCn96CdXU-OPDBIeQeaAlA7eOqen-rSkYBSkWNYIxekBkIqTVVkttLkrHTLkBJeUUWVpt_x_g1yYAqVljGPm_JbBy_KGVUgMkI3_xsp33eDXV7CHkc6iHlOMS8c_2ErklTbPt9nqLrx-MQk0vt0N-RG3SHMSzOnJOP5fO2ei3Wm5dV9bQuGsZEKuqgvDBeGUBvnPVGW83QI2iLQTnpGuDGKAQrtWus50IGwJNDtL5Bzufk4e-3DSHsjrHtXPzeneP5L9FPSsw</recordid><startdate>201110</startdate><enddate>201110</enddate><creator>Horan, B.</creator><creator>Najdovski, Z.</creator><creator>Black, T.</creator><creator>Nahavandi, S.</creator><creator>Crothers, P.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>201110</creationdate><title>OzTug mobile robot for manufacturing transportation</title><author>Horan, B. ; Najdovski, Z. ; Black, T. ; Nahavandi, S. ; Crothers, P.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c224t-be6d48d681fd8a9d87972fdf179fe6a5ac13886f1957ac9d345e1f9feff9dcf33</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2011</creationdate><topic>AGV</topic><topic>Cameras</topic><topic>Couplings</topic><topic>manufacturing</topic><topic>mobile robot</topic><topic>Mobile robots</topic><topic>Robot kinematics</topic><topic>robot transportation</topic><topic>Robot vision systems</topic><topic>Wheels</topic><toplevel>online_resources</toplevel><creatorcontrib>Horan, B.</creatorcontrib><creatorcontrib>Najdovski, Z.</creatorcontrib><creatorcontrib>Black, T.</creatorcontrib><creatorcontrib>Nahavandi, S.</creatorcontrib><creatorcontrib>Crothers, P.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Horan, B.</au><au>Najdovski, Z.</au><au>Black, T.</au><au>Nahavandi, S.</au><au>Crothers, P.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>OzTug mobile robot for manufacturing transportation</atitle><btitle>2011 IEEE International Conference on Systems, Man, and Cybernetics</btitle><stitle>ICSMC</stitle><date>2011-10</date><risdate>2011</risdate><spage>3554</spage><epage>3560</epage><pages>3554-3560</pages><issn>1062-922X</issn><eissn>2577-1655</eissn><isbn>9781457706523</isbn><isbn>1457706520</isbn><eisbn>1457706539</eisbn><eisbn>9781457706530</eisbn><eisbn>9781457706516</eisbn><eisbn>1457706512</eisbn><abstract>Firstly, this paper introduces the OzTug mobile robot developed to autonomously manoeuvre large loads within a manufacturing environment. 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| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 1062-922X |
| ispartof | 2011 IEEE International Conference on Systems, Man, and Cybernetics, 2011, p.3554-3560 |
| issn | 1062-922X 2577-1655 |
| language | eng |
| recordid | cdi_ieee_primary_6084220 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | AGV Cameras Couplings manufacturing mobile robot Mobile robots Robot kinematics robot transportation Robot vision systems Wheels |
| title | OzTug mobile robot for manufacturing transportation |
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