Collaborative Transport Strategy for Dual AGVs in Smart Ports: Enhancing Docking Accuracy in No-Load Formations
To enhance the adaptability of automated guided vehicles (AGVs) in port operations, this paper proposes a novel collaborative transport strategy for dual AGVs. This study focuses on reducing formation completion time, improving motion safety, and enhancing pose accuracy at the docking point for no-l...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/13/1/81 |
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| _version_ | 1832588222377492480 |
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| author | Qiang Zhang Wenfeng Li Long Guo Xiaohang Qi |
| author_facet | Qiang Zhang Wenfeng Li Long Guo Xiaohang Qi |
| author_sort | Qiang Zhang |
| collection | DOAJ |
| description | To enhance the adaptability of automated guided vehicles (AGVs) in port operations, this paper proposes a novel collaborative transport strategy for dual AGVs. This study focuses on reducing formation completion time, improving motion safety, and enhancing pose accuracy at the docking point for no-load dual AGVs, which is the first phase of the transport strategy. To implement this strategy, the sizes of the existing AGVs are adjusted, and a hybrid collaborative control framework is designed. This framework includes a feedback mechanism based on the leader–follower formation model, along with a closed-loop controller utilizing the sliding mode control algorithm. Finally, simulation and physical tests based on real port data verify the proposed strategy’s effectiveness. The results show it significantly enhances the dual AGVs’ motion safety and docking accuracy, providing new insights for smart port development. |
| format | Article |
| id | doaj-art-a51f1d118804405ea716437bcc856e0b |
| institution | Kabale University |
| issn | 2077-1312 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-a51f1d118804405ea716437bcc856e0b2025-01-24T13:36:47ZengMDPI AGJournal of Marine Science and Engineering2077-13122025-01-011318110.3390/jmse13010081Collaborative Transport Strategy for Dual AGVs in Smart Ports: Enhancing Docking Accuracy in No-Load FormationsQiang Zhang0Wenfeng Li1Long Guo2Xiaohang Qi3State Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430063, ChinaState Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430063, ChinaState Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430063, ChinaState Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430063, ChinaTo enhance the adaptability of automated guided vehicles (AGVs) in port operations, this paper proposes a novel collaborative transport strategy for dual AGVs. This study focuses on reducing formation completion time, improving motion safety, and enhancing pose accuracy at the docking point for no-load dual AGVs, which is the first phase of the transport strategy. To implement this strategy, the sizes of the existing AGVs are adjusted, and a hybrid collaborative control framework is designed. This framework includes a feedback mechanism based on the leader–follower formation model, along with a closed-loop controller utilizing the sliding mode control algorithm. Finally, simulation and physical tests based on real port data verify the proposed strategy’s effectiveness. The results show it significantly enhances the dual AGVs’ motion safety and docking accuracy, providing new insights for smart port development.https://www.mdpi.com/2077-1312/13/1/81automated guided vehiclesformation controlleader–follower modelfeedback mechanismsliding mode control |
| spellingShingle | Qiang Zhang Wenfeng Li Long Guo Xiaohang Qi Collaborative Transport Strategy for Dual AGVs in Smart Ports: Enhancing Docking Accuracy in No-Load Formations Journal of Marine Science and Engineering automated guided vehicles formation control leader–follower model feedback mechanism sliding mode control |
| title | Collaborative Transport Strategy for Dual AGVs in Smart Ports: Enhancing Docking Accuracy in No-Load Formations |
| title_full | Collaborative Transport Strategy for Dual AGVs in Smart Ports: Enhancing Docking Accuracy in No-Load Formations |
| title_fullStr | Collaborative Transport Strategy for Dual AGVs in Smart Ports: Enhancing Docking Accuracy in No-Load Formations |
| title_full_unstemmed | Collaborative Transport Strategy for Dual AGVs in Smart Ports: Enhancing Docking Accuracy in No-Load Formations |
| title_short | Collaborative Transport Strategy for Dual AGVs in Smart Ports: Enhancing Docking Accuracy in No-Load Formations |
| title_sort | collaborative transport strategy for dual agvs in smart ports enhancing docking accuracy in no load formations |
| topic | automated guided vehicles formation control leader–follower model feedback mechanism sliding mode control |
| url | https://www.mdpi.com/2077-1312/13/1/81 |
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