OzTug mobile robot for manufacturing transportation

Horan, Ben, Najdovski, Zoran, Black, Tim, Nahavandi, Saeid and Crothers, Phillip 2011, OzTug mobile robot for manufacturing transportation, in SMC 2011 : Conference proceeding of the 2011 International Conference on Systems, Man, and Cybernetics, IEEE, [Anchorage, Alaska], pp. 3554-3560.

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Title OzTug mobile robot for manufacturing transportation
Author(s) Horan, BenORCID iD for Horan, Ben orcid.org/0000-0002-6723-259X
Najdovski, ZoranORCID iD for Najdovski, Zoran orcid.org/0000-0002-8880-8287
Black, Tim
Nahavandi, SaeidORCID iD for Nahavandi, Saeid orcid.org/0000-0002-0360-5270
Crothers, Phillip
Conference name IEEE International Conference of Systems, Man, and Cybernetics (2011 : Anchorage, Alaska)
Conference location Anchorage, Alaska
Conference dates 9-12 Oct. 2011
Title of proceedings SMC 2011 : Conference proceeding of the 2011 International Conference on Systems, Man, and Cybernetics
Editor(s) [Unknown]
Publication date 2011
Conference series IEEE International Conference of Systems, Man, and Cybernetics
Start page 3554
End page 3560
Total pages 7
Publisher IEEE
Place of publication [Anchorage, Alaska]
Keyword(s) mobile robot
robot transportation
Summary Firstly, this paper introduces the OzTug mobile robot developed to autonomously manoeuvre large loads within a manufacturing environment. The mobile robot utilizes differential drive and necessary design criteria includes low-cost, mechanical robustness, and the ability 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.
ISBN 1457706520
ISSN 1062-922X
Language eng
Field of Research 099999 Engineering not elsewhere classified
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category E1 Full written paper - refereed
Copyright notice ©2011, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30042232

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