Details
| Original language | English |
|---|---|
| Title of host publication | 2024 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM) |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 290-296 |
| Number of pages | 7 |
| ISBN (electronic) | 979-8-3503-6419-4 |
| ISBN (print) | 979-8-3503-6420-0 |
| Publication status | Published - 8 Aug 2024 |
| Event | 11th IEEE International Conference on Cybernetics and Intelligent Systems and 11th IEEE International Conference on Robotics, Automation and Mechatronics, CIS-RAM 2024 - Hangzhou, China Duration: 8 Aug 2024 → 11 Aug 2024 |
Abstract
In a transition phase where autonomous and non-autonomous vehicles coexist, solutions are required to integrate all vehicles into an automotive service network. This paper proposes a solution to integrate non-autonomous vehicles into an automated parking service network during this transition phase. The proposed design consists of four robotic platforms that can adjust their ground clearance and overcome steep sag and crest curves of a ramp in a multistory parking facility, using a differential drive module that combines a drive and a lift function. The robot can move in 6 DoF by controlling the height of each drive module. Kinematics for the redundant motion control of the drive wheels were implemented using an instantaneous center of rotation approach. Manufactured prototypes and simulated models of the robot platforms were used to validate the system's basic functions.
ASJC Scopus subject areas
- Computer Science(all)
- Artificial Intelligence
- Computer Science(all)
- Computer Science Applications
- Engineering(all)
- Electrical and Electronic Engineering
- Engineering(all)
- Mechanical Engineering
- Mathematics(all)
- Control and Optimization
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2024 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM). Institute of Electrical and Electronics Engineers Inc., 2024. p. 290-296.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Design of a 6 DoF Multi-Robot Platform for Automated Multistory Valet Parking
AU - Springer, Malte
AU - Recker, Tobias
AU - Schütz, Daniel
AU - Raatz, Annika
N1 - Publisher Copyright: © 2024 IEEE.
PY - 2024/8/8
Y1 - 2024/8/8
N2 - In a transition phase where autonomous and non-autonomous vehicles coexist, solutions are required to integrate all vehicles into an automotive service network. This paper proposes a solution to integrate non-autonomous vehicles into an automated parking service network during this transition phase. The proposed design consists of four robotic platforms that can adjust their ground clearance and overcome steep sag and crest curves of a ramp in a multistory parking facility, using a differential drive module that combines a drive and a lift function. The robot can move in 6 DoF by controlling the height of each drive module. Kinematics for the redundant motion control of the drive wheels were implemented using an instantaneous center of rotation approach. Manufactured prototypes and simulated models of the robot platforms were used to validate the system's basic functions.
AB - In a transition phase where autonomous and non-autonomous vehicles coexist, solutions are required to integrate all vehicles into an automotive service network. This paper proposes a solution to integrate non-autonomous vehicles into an automated parking service network during this transition phase. The proposed design consists of four robotic platforms that can adjust their ground clearance and overcome steep sag and crest curves of a ramp in a multistory parking facility, using a differential drive module that combines a drive and a lift function. The robot can move in 6 DoF by controlling the height of each drive module. Kinematics for the redundant motion control of the drive wheels were implemented using an instantaneous center of rotation approach. Manufactured prototypes and simulated models of the robot platforms were used to validate the system's basic functions.
UR - http://www.scopus.com/inward/record.url?scp=85208425601&partnerID=8YFLogxK
U2 - 10.1109/CIS-RAM61939.2024.10673400
DO - 10.1109/CIS-RAM61939.2024.10673400
M3 - Conference contribution
AN - SCOPUS:85208425601
SN - 979-8-3503-6420-0
SP - 290
EP - 296
BT - 2024 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM)
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 11th IEEE International Conference on Cybernetics and Intelligent Systems and 11th IEEE International Conference on Robotics, Automation and Mechatronics, CIS-RAM 2024
Y2 - 8 August 2024 through 11 August 2024
ER -