AGV Platoon Control with Sensor-Led Follower Navigation
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Solution Overview
Problem
Existing automated guided vehicles (AGVs) require extensive sensors and computational power for person safety and navigation, limiting their scalability and efficiency in platooning operations.
Innovation Solution
A hybrid platoon system where a lead AGV with sensors guides multiple follower AGVs without sensors, using a platoon controller for communication and safety measures, including emergency-stop signals and dynamic path planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If follower AGVs are equipped with sensors for person safety and navigation, then safety and navigation capabilities are improved, but device complexity and cost increase
Solution Approach 1:
The lead AGV acts as an intermediary that performs sensor-based safety and navigation functions for the entire platoon. The lead AGV's sensors detect obstacles and environmental features, then communicate this information to follower AGVs through vehicle-to-vehicle communication, eliminating the need for redundant sensors on each follower vehicle.
Solution Approach 2:
The lead AGV's sensor system serves multiple functions: it provides safety monitoring for the entire platoon, navigation guidance for all vehicles, and obstacle detection for route planning. This multi-functional approach replaces what would otherwise require identical sensor suites on each follower AGV.
2Ease of operation
If follower AGVs have full path planning and localization capabilities, then autonomous navigation is improved, but computational power requirements and device complexity increase
Solution Approach 1:
The lead AGV's controller serves as a centralized computational hub that performs path planning and localization calculations. It processes environmental data from its sensors, generates optimized paths, and communicates navigation commands to follower AGVs, replacing the need for complex onboard computers in each follower vehicle.
Solution Approach 2:
Instead of each AGV independently performing complex path planning, the lead AGV's controller computes paths and copies these navigation instructions to follower AGVs. The followers execute pre-computed paths with simpler onboard computers, reducing their computational requirements while maintaining coordinated platoon navigation.
3Adaptability or versatility
If all AGVs in the platoon have identical sensor equipment, then individual vehicle autonomy is improved, but scalability and cost-effectiveness deteriorate
Solution Approach 1:
The autonomous navigation function is segmented between the lead AGV and follower AGVs. The lead AGV contains the complex sensor suite and computational resources for autonomous operation, while follower AGVs have simplified systems that rely on communication with the lead vehicle. This segmentation allows cost-effective scaling of platoon size.
Solution Approach 2:
Different levels of sensor equipment and computational capability are assigned to different roles in the platoon. The lead AGV has full sensor and computing capabilities for autonomous navigation, while follower AGVs have reduced equipment suited for their following function. This differentiated approach optimizes overall system cost and scalability.
Data Source
AI summary
A controller, first automated guided vehicle, second automated guided vehicle and methods of guiding a platoon of automated guided vehicles. The method includes providing by the controller a first target position and a first target orientation to the first automated guided vehicle having sensors used for person safety and navigation that is configurable or configured to lead a platoon of automated guided vehicles, and sending by the controller to the second automated guided vehicle not having sensors used for person safety and navigation a command to join the platoon of automated guided vehicles and/or to follow the first automated guided vehicle in the platoon of automated vehicles.