Abstract
In a manufacturing environment, material transport plays a key role for the production process efficiency. In Schoeller-Bregenz (SB), a textile manufacturing SME, induction wire guided vehicles performed typical material transports, without the flexibility to adapt transport routes to changes in the production process. To overcome these deficits in the RETRARO project 8 The RETRARO project (Ref. 20.778) is partially funded by the ESPRIT IV Programme of the European Commission. RETRARO Consortium is formed by GMV, UPV, ARS, FH Ravensburg-Weingarten and Schoeller-Bregenz. 8 an Autonomous Guided Vehicle (AGV) was designed and tested in the production plant. To adapt to changing production configurations, RETRARO had to provide solutions for the following functionality regarding economical constraints: algorithms for efficient path planning and health monitoring; economic sensor systems to provide navigation and obstacle avoidance functions; Integration of free navigation capabilities with existing wire guidance systems. This paper presents a survey on the AGV system design and details on the implementation of the control system based on: the real time expert system REAKT for path planning and health monitoring; a low cost ultra sonic range detection system using sensor data fusion for navigation and obstacle avoidance.
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