RT info:eu-repo/semantics/doctoralThesis
T1 Planning and control of AGV trajectories in industrial environments based on metaheuristic techniques
T2 Planificación y control de trayectorias de AGVS en entornos industriales basado en técnicas metaheurísticas
A1 Bayona Blanco, Eduardo
A2 Universidad de Burgos. Departamento de Digitalización
K1 Path Planning
K1 AGV
K1 Optimization
K1 Fitness Function Design
K1 Trajectory Tracking
K1 Planificación de trayectorias
K1 Optimización
K1 Diseño de función de coste
K1 Seguimiento de trayectorias
K1 Ingeniería
K1 Engineering
K1 Informática
K1 Computer science
K1 Vehículos
K1 Vehicles
K1 1203.04 Inteligencia Artificial
K1 1207.02 Sistemas de Control
K1 1203.15 Heurística
K1 1206.08 Métodos Iterativos
AB This thesis develops an optimization strategy for designing safe and efficient paths for AutomatedGuided Vehicles (AGVs) in industrial environments. By leveraging the mathematical model ofFrenet curves, trajectory planning and control are addressed, including modeling the occupancymap and identifying potential collision points with environmental obstacles. An optimizationframework is established, incorporating metaheuristic techniques like genetic algorithms, particleswarm optimization, and pattern search to generate optimized trajectories. Core contributionsinclude developing a refined fitness function for AGVs trajectories, a comparative analysis of threemetaheuristic methods to identify the most effective approaches for different scenarios, anddesigning and validating a hybrid control system combining nonlinear Lyapunov control withconventional PID controllers. Simulation and experimental results confirm the robustness andadaptability of the proposed methods, advancing AGV trajectory planning and control. This research contributes to the theoretical foundations of AGV path planning and offers practicalsolutions for improving the safety, efficiency, and reliability of AGV operations in industrialenvironments.
YR 2024
FD 2024
LK http://hdl.handle.net/10259/9534
UL http://hdl.handle.net/10259/9534
LA eng
DS Repositorio Institucional de la Universidad de Burgos
RD 22-dic-2024