Sökning: WFRF:(Ramasamy Sudha 1974 ) >
Optimized Online Pa...
Optimized Online Path Planning Algorithms Considering Energy
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- Ramasamy, Sudha, 1974- (författare)
- Högskolan Väst,Avdelningen för produktionssystem (PS),PTW
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- Eriksson, Kristina M., 1976- (författare)
- Högskolan Väst,Avdelningen för produktionssystem (PS),PTW
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- Peralippatt, Saptha (författare)
- Högskolan Väst,Avdelningen för produktionssystem (PS),PTW
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- Perumal, Balasubramanian (författare)
- Högskolan Väst,Avdelningen för produktionssystem (PS),PTW
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- Danielsson, Fredrik, 1972- (författare)
- Högskolan Väst,Avdelningen för produktionssystem (PS),PTW
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(creator_code:org_t)
- IEEE conference proceedings, 2021
- 2021
- Engelska.
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Ingår i: Proceedings. - : IEEE conference proceedings. - 9781728129891 ; , s. 1-08
- Relaterad länk:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- Plug and produce demonstrators handles multiple processes in the industry, appropriate path planning is essential and at the same time there is an increasing emphasis on more sustainable processes. To ensure the sustainability and automate these processes optimized path planning is required. We present an implementation of a path planning algorithm, which creates a smooth collision free path and considers energy use. In the paper, we demonstrated the implementation of PRM (Probabilistic Road Map) path planning and Dijkstra based optimization algorithm in a simulation environment and thereafter test in a real plug and produce demonstrator. To validate the simulated results the real energy was measured through the signal analyzer online. The measured results outlined in this paper includes; computational time, move along path time, and energy use with different loads. From the experiments and results we conclude that the combination of the two algorithms, PRM with Dijkstra, can be used to generate a collision free optimized path. Here we have considered the distance as the cost function for Dijkstra optimization algorithm and measured the energy of the collision free optimized path. The practical implication of this research is as an enabler for any kind of application where there are large variations of orders e.g., kitting techniques in assembly operations for manufacturing industry.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Maskinteknik -- Produktionsteknik, arbetsvetenskap och ergonomi (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Mechanical Engineering -- Production Engineering, Human Work Science and Ergonomics (hsv//eng)
- SAMHÄLLSVETENSKAP -- Utbildningsvetenskap -- Lärande (hsv//swe)
- SOCIAL SCIENCES -- Educational Sciences -- Learning (hsv//eng)
Nyckelord
- Optimized Path Planning
- PRM algorithm
- Dijkstra algorithm
- Energy
- Plug and Produce
- Collision-free path.
- Work Integrated Learning
- Arbetsintegrerat lärande
- Production Technology
- Produktionsteknik
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)
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