AGV Safety Areas Obstacle Detection and Interaction with Point Cloud Derived Map

Frati, Fabio (2022) AGV Safety Areas Obstacle Detection and Interaction with Point Cloud Derived Map. [Laurea magistrale], Università di Bologna, Corso di Studio in Automation engineering / ingegneria dell’automazione [LM-DM270], Documento full-text non disponibile
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This thesis project aims to the development of an algorithm for the obstacle detection and the interaction between the safety areas of an Automated Guided Vehicles (AGV) and a Point Cloud derived map inside the context of a CAD software. The first part of the project focuses on the implementation of an algorithm for the clipping of general polygons, with which has been possible to: construct the safety areas polygon, derive the sweep of this areas along the navigation path performing a union and detect the intersections with line or polygon representing the obstacles. The second part is about the construction of a map in terms of geometric entities (lines and polygons) starting from a point cloud given by the 3D scan of the environment. The point cloud is processed using: filters, clustering algorithms and concave/convex hull derived algorithms in order to extract line and polygon entities representing obstacles. Finally, the last part aims to use the a priori knowledge of possible obstacle detections on a given segment, to predict the behavior of the AGV and use this prediction to optimize the choice of the vehicle's assigned velocity in that segment, minimizing the travel time.

Tipologia del documento
Tesi di laurea (Laurea magistrale)
Autore della tesi
Frati, Fabio
Relatore della tesi
Correlatore della tesi
Corso di studio
Ordinamento Cds
Parole chiave
AGV,Point Cloud,Obstacle Detection,Polygon Clipping
Data di discussione della Tesi
5 Ottobre 2022

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