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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Bibliographic Details
Main Authors: Horan, B., Najdovski, Z., Black, T., Nahavandi, S., Crothers, P.
Format: Conference Proceeding
Language:English
Subjects:
AGV
Cameras
Couplings
manufacturing
mobile robot
Mobile robots
Robot kinematics
robot transportation
Robot vision systems
Wheels
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Summary: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.
ISSN:1062-922X
2577-1655
DOI:10.1109/ICSMC.2011.6084220