Abstract
In this paper, an outline of NTUA’s work in the framework of project INTELLICONT is presented. We describe the current state of the air-cargo handling procedures and how the autonomous system that is under development is going to simplify these and increase the overall efficiency. Important issues and challenges regarding the system's development are discussed and a preliminary design of the novel robotic platform is given. The main tasks of this platform include the autonomous motion and locking of containers with mass exceeding one tone, avoiding at the same time obstacles and surpassing terrain discontinuities. Information regarding the selected actuators and other key electrical components, such as motor drivers and sensors are provided also. The architecture of the embedded system and the specifications of the selected Central Control Unit are described, as well as the integration of the motor drivers, sensors and other peripherals with the Robot Operating System (ROS). Further details on the development of a high accuracy localization system, which is mandatory to lock the container safely to the corresponding positions are provided also. In addition, we give details regarding the locking mechanism with integrated monitoring functionalities, an important part of the system. Simulation experiments validate the selected position controller and key system specifications are highlighted based on results. Finally, recent prototype experiments conducted to verify the localization system are presented.
Highlights
Over the last decades, the air-cargo industry has experienced tremendous growth [1,2]
The introduction of autonomous mobile robots and automated guided vehicles has already simplified and accelerated the procedures in fields related to transportation and logistics, especially in complex environments such as warehouses, distribution centres and even hospitals [3,4,5]
The Robotic Platform (RP), shown in blue, and the Unit Load Devices (ULDs) are placed on the Cargo Loader (CL)
Summary
The air-cargo industry has experienced tremendous growth [1,2]. The most essential components, the air-cargo containers or Unit Load Devices (ULDs), have not followed the same evolution as the aircraft structures and systems, and remain open to technological advancements. Air-cargo handling procedures involve mostly manual operations and require preparations and actions made by qualified personnel in order to safely load and unload the ULDs. a great disadvantage lies on the requirement of having aircraft-embedded hardware in the Cargo Compartment (CC) of the aircraft, including multiple power drive units for moving the ULDs (Figure 1). A great disadvantage lies on the requirement of having aircraft-embedded hardware in the Cargo Compartment (CC) of the aircraft, including multiple power drive units for moving the ULDs (Figure 1) This increases hardware implementation complexity and adds unnecessary weight to the aircraft. Regular maintenance is needed for ensuring smooth operation and avoiding common issues, such as blocked
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