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main.toc
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\acswitchoff
\babel@toc {english}{}\relax
\contentsline {chapter}{General Introduction}{1}{chapter*.5}%
\contentsline {chapter}{\numberline {1}Host company and Project context}{4}{chapter.1}%
\contentsline {section}{\numberline {1}Host company: STILL GmbH}{4}{section.1.1}%
\contentsline {subsection}{\numberline {1.1}KION Group and STILL GmbH}{4}{subsection.1.1.1}%
\contentsline {subsection}{\numberline {1.2}KION Management Hierarchy}{5}{subsection.1.1.2}%
\contentsline {subsection}{\numberline {1.3}STILL Products}{6}{subsection.1.1.3}%
\contentsline {section}{\numberline {2}Work Structure and Methodology}{8}{section.1.2}%
\contentsline {subsection}{\numberline {2.1}Agile Scrum Framework}{8}{subsection.1.2.1}%
\contentsline {subsection}{\numberline {2.2}Version Management}{9}{subsection.1.2.2}%
\contentsline {subsection}{\numberline {2.3}Communication and Collaboration}{9}{subsection.1.2.3}%
\contentsline {subsection}{\numberline {2.4}Project Timeline}{9}{subsection.1.2.4}%
\contentsline {section}{\numberline {3}Graduation project Motivation and Problem Statement}{10}{section.1.3}%
\contentsline {subsection}{\numberline {3.1}Motivation}{10}{subsection.1.3.1}%
\contentsline {subsection}{\numberline {3.2}Problem statement}{11}{subsection.1.3.2}%
\contentsline {chapter}{\numberline {2}State of the Art: Optimal path planning for autonomous robots}{16}{chapter.2}%
\contentsline {section}{\numberline {1}Intralogistics Environments}{16}{section.2.1}%
\contentsline {section}{\numberline {2}AMRs in Intralogistics Environments}{17}{section.2.2}%
\contentsline {section}{\numberline {3}Path Planning}{18}{section.2.3}%
\contentsline {subsection}{\numberline {3.1}Path Planning for autonomous robots: Opportunities and challenges}{19}{subsection.2.3.1}%
\contentsline {subsection}{\numberline {3.2}Near-Field Path Planning}{23}{subsection.2.3.2}%
\contentsline {subsection}{\numberline {3.3}Discussion: Selection of the Path Planning Method}{31}{subsection.2.3.3}%
\contentsline {section}{\numberline {4}Heuristic Approaches}{32}{section.2.4}%
\contentsline {subsection}{\numberline {4.1}Optimization Techniques}{32}{subsection.2.4.1}%
\contentsline {section}{\numberline {5}Synthesis and Discussion}{39}{section.2.5}%
\contentsline {section}{\numberline {6}Adopted Path Planning and Optimization Methods}{40}{section.2.6}%
\contentsline {chapter}{\numberline {3}Design and Development of the Proposed Solution }{44}{chapter.3}%
\contentsline {section}{\numberline {1}Conceptual Framework}{44}{section.3.1}%
\contentsline {subsection}{\numberline {1.1}Goal Setting}{44}{subsection.3.1.1}%
\contentsline {subsection}{\numberline {1.2}Design of the Development Methodology}{45}{subsection.3.1.2}%
\contentsline {section}{\numberline {2}Methodology and Design of the Solution}{47}{section.3.2}%
\contentsline {section}{\numberline {3}Development phases and Implementation}{50}{section.3.3}%
\contentsline {subsection}{\numberline {3.1}Geometric Partitioning of the Station}{50}{subsection.3.3.1}%
\contentsline {subsubsection}{\numberline {3.1.1}Implementation of the Station Partitioning}{51}{subsubsection.3.3.1.1}%
\contentsline {subsubsection}{\numberline {3.1.2}Results of the Station Partitioning}{56}{subsubsection.3.3.1.2}%
\contentsline {subsection}{\numberline {3.2}Path creation}{57}{subsection.3.3.2}%
\contentsline {subsubsection}{\numberline {3.2.1}Choice of Path Creation Methodology}{57}{subsubsection.3.3.2.1}%
\contentsline {subsubsection}{\numberline {3.2.2}Spline Based Paths}{58}{subsubsection.3.3.2.2}%
\contentsline {subsubsubsection}{\numberline {3.2.2.1}Splines Applications in Robotics}{58}{subsubsubsection.3.3.2.2.1}%
\contentsline {subsubsubsection}{\numberline {3.2.2.2}Splines Mathematical concepts}{61}{subsubsubsection.3.3.2.2.2}%
\contentsline {subsubsection}{\numberline {3.2.3}Implementation of the Pattern Path Creation Approach}{64}{subsubsection.3.3.2.3}%
\contentsline {subsection}{\numberline {3.3}Path Evaluation}{68}{subsection.3.3.3}%
\contentsline {subsubsection}{\numberline {3.3.1}Path Evaluation Techniques in Robotics}{68}{subsubsection.3.3.3.1}%
\contentsline {subsubsubsection}{\numberline {3.3.1.1}Core Metrics for Path Evaluation}{69}{subsubsubsection.3.3.3.1.1}%
\contentsline {subsubsubsection}{\numberline {3.3.1.2}Combinations of single metrics}{70}{subsubsubsection.3.3.3.1.2}%
\contentsline {subsubsection}{\numberline {3.3.2}Implementation of Path Evaluation Techniques}{71}{subsubsection.3.3.3.2}%
\contentsline {subsubsubsection}{\numberline {3.3.2.1}First approach: Exponential Weighted Path Evaluation}{74}{subsubsubsection.3.3.3.2.1}%
\contentsline {subsubsubsection}{\numberline {3.3.2.2}Second approach: Normalized Weighted Path Evaluation}{76}{subsubsubsection.3.3.3.2.2}%
\contentsline {subsection}{\numberline {3.4}Path Optimization}{78}{subsection.3.3.4}%
\contentsline {subsubsection}{\numberline {3.4.1}Implementation}{78}{subsubsection.3.3.4.1}%
\contentsline {subsubsection}{\numberline {3.4.2}Obstacle Avoidance in the Pattern Based Approach}{81}{subsubsection.3.3.4.2}%
\contentsline {chapter}{\numberline {4}Test and Validation of the Proposed Solution}{85}{chapter.4}%
\contentsline {section}{\numberline {1}Path Creation Test Results and Validation}{86}{section.4.1}%
\contentsline {section}{\numberline {2}Path Evaluation Test Results and Validation}{88}{section.4.2}%
\contentsline {section}{\numberline {3}Path Optimization Test Results and Validation}{92}{section.4.3}%
\contentsline {section}{\numberline {4}Field-Testing of the Solution on the AMR}{101}{section.4.4}%
\contentsline {subsection}{\numberline {4.1}Simple Test Environment}{101}{subsection.4.4.1}%
\contentsline {subsection}{\numberline {4.2}Complex Test Environments}{105}{subsection.4.4.2}%
\contentsline {subsubsection}{\numberline {4.2.1}Obstacle Setup 1: Obstacle on the left of the AMR}{105}{subsubsection.4.4.2.1}%
\contentsline {subsubsection}{\numberline {4.2.2}Obstacle Setup 2: Obstacle on the right of the AMR}{109}{subsubsection.4.4.2.2}%
\contentsline {subsection}{\numberline {4.3}Discussion of the results}{112}{subsection.4.4.3}%
\contentsline {section}{\numberline {5}Summary of Contributions and Reflections}{113}{section.4.5}%
\contentsline {chapter}{General conclusion}{115}{chapter*.88}%
\contentsline {chapter}{Annexes}{117}{chapter*.89}%
\contentsline {chapter}{Bibliography}{118}{chapter*.90}%