A LiDAR-Based Dual-Vehicle Collaborative Transportation Approach Without Communication
In scenarios where wireless communication is unavailable, achieving dual-vehicle collaborative transportation for ultra-long and heavy loads solely relying on sensor data from automated guided vehicles (AGVs) poses a significant challenge. The primary obstacle lies in the inability to obtain real-ti...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2025-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/11036122/ |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1849393806673182720 |
|---|---|
| author | Feng Xie Haibin Liu Mingfei Li Minghao Xia |
| author_facet | Feng Xie Haibin Liu Mingfei Li Minghao Xia |
| author_sort | Feng Xie |
| collection | DOAJ |
| description | In scenarios where wireless communication is unavailable, achieving dual-vehicle collaborative transportation for ultra-long and heavy loads solely relying on sensor data from automated guided vehicles (AGVs) poses a significant challenge. The primary obstacle lies in the inability to obtain real-time relative pose and velocity information between the two AGVs. To address this issue, this paper proposes a multi-line LiDAR-based dual-vehicle cooperative control method to tackle the synchronization challenges in robot collaborative transportation under non-communication conditions. By integrating multi-line LiDAR with reflective markers, the proposed method achieves high-precision measurement of the relative poses between the two AGVs. Based on a leader-follower cooperative control strategy, the follower AGV maintains a stable relative position relative to the leader AGV throughout the collaborative transportation process. Additionally, a six-axis force sensor mounted on the vehicle body monitors the load force in real time, and this information is incorporated to adjust the follower’s synchronization speed, thereby enhancing the robustness of the AGV system. Experimental results from multiple real-vehicle tests demonstrate that the proposed method successfully accomplishes dual-vehicle collaborative transportation tasks under non-communication conditions. Unlike traditional cooperative control methods reliant on wireless communication, the proposed approach operates efficiently in completely non-communication environments, making it widely applicable to complex or specialized scenarios. This study provides a reliable technical solution for multi-robot collaborative transportation in industrial automation. |
| format | Article |
| id | doaj-art-bbaf1e1cd7af4a36b13c494f462397d7 |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-bbaf1e1cd7af4a36b13c494f462397d72025-08-20T03:40:17ZengIEEEIEEE Access2169-35362025-01-011310440610442110.1109/ACCESS.2025.357950111036122A LiDAR-Based Dual-Vehicle Collaborative Transportation Approach Without CommunicationFeng Xie0Haibin Liu1https://orcid.org/0000-0002-8267-8717Mingfei Li2https://orcid.org/0009-0002-1408-4092Minghao Xia3College of Mechanical and Energy Engineering, Beijing University of Technology, Beijing, ChinaCollege of Mechanical and Energy Engineering, Beijing University of Technology, Beijing, ChinaCollege of Mechanical and Energy Engineering, Beijing University of Technology, Beijing, ChinaCapital Aerospace Machinery Company Ltd., Beijing, ChinaIn scenarios where wireless communication is unavailable, achieving dual-vehicle collaborative transportation for ultra-long and heavy loads solely relying on sensor data from automated guided vehicles (AGVs) poses a significant challenge. The primary obstacle lies in the inability to obtain real-time relative pose and velocity information between the two AGVs. To address this issue, this paper proposes a multi-line LiDAR-based dual-vehicle cooperative control method to tackle the synchronization challenges in robot collaborative transportation under non-communication conditions. By integrating multi-line LiDAR with reflective markers, the proposed method achieves high-precision measurement of the relative poses between the two AGVs. Based on a leader-follower cooperative control strategy, the follower AGV maintains a stable relative position relative to the leader AGV throughout the collaborative transportation process. Additionally, a six-axis force sensor mounted on the vehicle body monitors the load force in real time, and this information is incorporated to adjust the follower’s synchronization speed, thereby enhancing the robustness of the AGV system. Experimental results from multiple real-vehicle tests demonstrate that the proposed method successfully accomplishes dual-vehicle collaborative transportation tasks under non-communication conditions. Unlike traditional cooperative control methods reliant on wireless communication, the proposed approach operates efficiently in completely non-communication environments, making it widely applicable to complex or specialized scenarios. This study provides a reliable technical solution for multi-robot collaborative transportation in industrial automation.https://ieeexplore.ieee.org/document/11036122/Non-communication scenariosleader-followermulti-line LiDARmulti-robot collaborative transportationdual-vehicle collaborative |
| spellingShingle | Feng Xie Haibin Liu Mingfei Li Minghao Xia A LiDAR-Based Dual-Vehicle Collaborative Transportation Approach Without Communication IEEE Access Non-communication scenarios leader-follower multi-line LiDAR multi-robot collaborative transportation dual-vehicle collaborative |
| title | A LiDAR-Based Dual-Vehicle Collaborative Transportation Approach Without Communication |
| title_full | A LiDAR-Based Dual-Vehicle Collaborative Transportation Approach Without Communication |
| title_fullStr | A LiDAR-Based Dual-Vehicle Collaborative Transportation Approach Without Communication |
| title_full_unstemmed | A LiDAR-Based Dual-Vehicle Collaborative Transportation Approach Without Communication |
| title_short | A LiDAR-Based Dual-Vehicle Collaborative Transportation Approach Without Communication |
| title_sort | lidar based dual vehicle collaborative transportation approach without communication |
| topic | Non-communication scenarios leader-follower multi-line LiDAR multi-robot collaborative transportation dual-vehicle collaborative |
| url | https://ieeexplore.ieee.org/document/11036122/ |
| work_keys_str_mv | AT fengxie alidarbaseddualvehiclecollaborativetransportationapproachwithoutcommunication AT haibinliu alidarbaseddualvehiclecollaborativetransportationapproachwithoutcommunication AT mingfeili alidarbaseddualvehiclecollaborativetransportationapproachwithoutcommunication AT minghaoxia alidarbaseddualvehiclecollaborativetransportationapproachwithoutcommunication AT fengxie lidarbaseddualvehiclecollaborativetransportationapproachwithoutcommunication AT haibinliu lidarbaseddualvehiclecollaborativetransportationapproachwithoutcommunication AT mingfeili lidarbaseddualvehiclecollaborativetransportationapproachwithoutcommunication AT minghaoxia lidarbaseddualvehiclecollaborativetransportationapproachwithoutcommunication |