Visual-servo trajectory optimization for AGVs
Modern factories are incorporating robotics and automatics in their processes. From robotic arms to Automated Guided Vehicles (AGVs), the goal of these machines is helping humans to do the hardest or more repetitive tasks, increasing productivity. One of the most used robotic machines are AGVs. Thes...
| Autor: | |
|---|---|
| Tipo de recurso: | tesis de maestría |
| Fecha de publicación: | 2022 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/371076 |
| Acceso en línea: | https://hdl.handle.net/2117/371076 |
| Access Level: | acceso abierto |
| Palabra clave: | Autonomous vehicles Vehicles autònoms Àrees temàtiques de la UPC::Informàtica::Intel·ligència artificial |
| Sumario: | Modern factories are incorporating robotics and automatics in their processes. From robotic arms to Automated Guided Vehicles (AGVs), the goal of these machines is helping humans to do the hardest or more repetitive tasks, increasing productivity. One of the most used robotic machines are AGVs. These robots help factories like car factories to automate their processes, for example moving pieces from the warehouse to the assembly line when necessary. This project will review a computer vision method called Visual Servoing applied in a Turtlebot 2 platform, with the objective to adapt it to the docking of an AGV. This will be done using a combination of the two ways to perform visual servoing, Position Based Visual Servoing (PBVS) and Image Based Visual Servoing (IBVS), along with different computer vision techniques such as binarization, equalization or noise removal, and different aspects in robotics analysis such as study of its kinematics, or transformations between coordinate frames, which will be essential tools in order to do this project. Once the project is done an analysis of future work and what has to be improved about this solution will be done, along with a study of its budget and environmental impact. |
|---|