Document Type
Article
Publication Date
11-25-2023
Department
Department of Mechanical Engineering-Engineering Mechanics
Abstract
The rise of smart factories and warehouses has ushered in an era of intelligent manufacturing, with autonomous robots playing a pivotal role. This study focuses on improving the navigation and control of autonomous forklifts in warehouse environments. It introduces an innovative approach that combines a modified Linear Segment with Parabolic Blends (LSPB) trajectory planning with Model Predictive Control (MPC) to ensure efficient and secure robot movement. To validate the performance of our proposed path-planning method, MATLAB-based simulations were conducted in various scenarios, including rectangular and warehouse-like environments, to demonstrate the feasibility and effectiveness of the proposed method. The results demonstrated the feasibility of employing Mecanum wheel-based robots in automated warehouses. Also, to show the superiority of the proposed control algorithm performance, the navigation results were compared with the performance of a system using the PID control as a lower-level controller. By offering an optimized path-planning approach, our study enhances the operational efficiency and effectiveness of Mecanum wheel robots in real-world applications such as automated warehousing systems.
Publication Title
Machines
Recommended Citation
Vorasawad, K.,
Park, M.,
&
Kim, C.
(2023).
Efficient Navigation and Motion Control for Autonomous Forklifts in Smart Warehouses: LSPB Trajectory Planning and MPC Implementation.
Machines,
11(12).
http://doi.org/10.3390/machines11121050
Retrieved from: https://digitalcommons.mtu.edu/michigantech-p2/303
Version
Publisher's PDF
Publisher's Statement
Copyright: © 2023 by the authors. Licensee MDPI, Basel, Switzerland. Publisher’s version of record: https://doi.org/10.3390/machines11121050