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lu
en
ce
o
n
tr
ac
tio
n
b
e
h
av
io
r
,
m
o
tio
n
s
tab
ilit
y
,
an
d
o
v
er
all
en
er
g
y
co
n
s
u
m
p
tio
n
.
I
n
m
o
s
t
s
tu
d
ies,
th
ese
m
ec
h
an
ical
elem
e
n
t
s
ar
e
tr
ea
ted
as
f
ix
ed
p
ar
a
m
eter
s
,
with
lim
ited
co
n
s
id
er
atio
n
g
iv
en
to
h
o
w
in
t
er
ac
tio
n
s
am
o
n
g
m
ec
h
a
n
ical
d
esig
n
p
ar
am
eter
s
af
f
ec
t sy
s
te
m
en
er
g
y
ef
f
icien
c
y
Hen
ce
,
th
is
r
ev
iew
is
s
tr
u
ctu
r
ed
i
n
to
th
r
ee
m
ai
n
p
a
r
ts
.
First,
it
ex
am
in
es
ex
is
tin
g
o
p
tim
izatio
n
s
tr
ateg
ies
f
r
o
m
co
n
tr
o
l
-
b
ased
an
d
co
m
p
u
tatio
n
al
ap
p
r
o
ac
h
e
s
to
id
en
tify
u
n
d
er
ly
in
g
m
ec
h
an
ical
im
p
licatio
n
s
with
in
th
ese
m
eth
o
d
s
,
as
d
is
cu
s
s
ed
in
s
ec
tio
n
s
2
an
d
3
.
Se
co
n
d
,
it
s
y
n
th
esizes
k
ey
f
ac
t
o
r
s
af
f
ec
tin
g
AGV
en
er
g
y
co
n
s
u
m
p
tio
n
,
p
ar
ticu
la
r
ly
p
h
y
s
ical
p
ar
am
eter
s
r
elate
d
to
m
o
b
ilit
y
in
e
f
f
icien
cies
an
d
th
eir
p
o
ten
tial
f
o
r
d
esig
n
im
p
r
o
v
em
e
n
t.
T
h
ese
f
in
d
in
g
s
c
o
n
tr
ib
u
te
to
th
e
s
t
u
d
y
b
y
s
h
o
win
g
th
at
m
ec
h
a
n
ical
elem
en
ts
ca
n
ad
d
r
ess
co
n
ce
r
n
s
co
m
m
o
n
l
y
h
an
d
led
th
r
o
u
g
h
co
n
tr
o
l
-
b
ased
ap
p
r
o
ac
h
es,
as
r
ev
iewe
d
in
s
ec
tio
n
s
4
an
d
5
.
Sectio
n
6
p
r
o
v
id
es
a
s
tr
u
ctu
r
e
d
f
r
am
ewo
r
k
to
o
p
tim
ize
m
ec
h
an
ical
d
esig
n
f
a
cto
r
s
ac
r
o
s
s
m
u
ltip
le
p
ar
am
eter
lev
els,
r
ep
r
esen
tin
g
a
m
ajo
r
c
o
n
tr
ib
u
tio
n
o
f
th
is
s
tu
d
y
to
wa
r
d
en
er
g
y
-
ef
f
icien
t
AGV
d
esig
n
an
d
m
ec
h
an
ical
o
p
tim
izatio
n
.
Fin
ally
,
s
ec
tio
n
7
co
n
clu
d
es
th
e
o
v
er
all
f
in
d
in
g
s
r
eg
ar
d
in
g
th
e
c
o
n
tr
ib
u
t
io
n
o
f
m
ec
h
an
ical
d
esig
n
to
AGV
en
er
g
y
o
p
tim
izatio
n
.
2.
AG
V
SYS
T
E
M
ARCH
I
T
E
C
T
UR
E
AND
E
NE
RG
Y
I
NT
E
RAC
T
I
O
N
T
h
e
AGV
s
y
s
tem
ar
ch
itectu
r
e
is
d
esig
n
ed
to
in
te
g
r
ate
d
if
f
e
r
en
t
s
u
b
s
y
s
tem
s
,
in
clu
d
in
g
m
ec
h
an
ical,
elec
tr
o
n
ic,
an
d
elec
tr
ical
co
m
p
o
n
en
ts
.
Un
d
er
s
tan
d
in
g
th
eir
in
ter
ac
tio
n
s
p
r
o
v
id
es
th
e
f
o
u
n
d
atio
n
f
o
r
an
aly
zi
n
g
en
er
g
y
f
lo
w,
c
o
m
p
u
tatio
n
al
m
o
d
ellin
g
,
an
d
o
p
tim
izatio
n
ap
p
r
o
ac
h
es
aim
ed
at
im
p
r
o
v
i
n
g
o
v
er
all
s
y
s
tem
ef
f
icien
cy
.
2
.
1
.
AG
V
s
ub
s
y
s
t
em
a
nd
inte
g
ra
t
ed
s
y
s
t
em
A
ty
p
ical
AGV
co
n
s
is
ts
o
f
in
ter
d
ep
en
d
en
t
s
u
b
s
y
s
tem
s
co
n
n
ec
ted
t
h
r
o
u
g
h
elec
tr
ical
p
o
wer
f
lo
w,
s
ig
n
al
co
m
m
u
n
icatio
n
,
an
d
m
ec
h
an
ical
tr
a
n
s
m
is
s
io
n
m
ec
h
an
is
m
s
,
as
illu
s
tr
ated
in
Fig
u
r
e
1
.
I
n
Fig
u
r
e
1
,
p
o
wer
d
is
tr
ib
u
tio
n
,
r
e
p
r
esen
te
d
b
y
th
e
r
ed
d
o
tted
lin
es,
is
s
u
p
p
lied
f
r
o
m
a
DC
en
er
g
y
s
o
u
r
ce
,
ty
p
ically
a
2
4
-
4
8
V
b
atter
y
,
an
d
d
is
tr
ib
u
te
d
to
elec
tr
ical
an
d
elec
tr
o
n
ic
co
m
p
o
n
e
n
ts
th
r
o
u
g
h
p
o
wer
co
n
v
er
ter
s
.
Mo
to
r
co
n
tr
o
ller
s
r
eg
u
late
p
o
wer
d
e
liv
er
y
u
s
in
g
p
u
ls
e
-
wid
th
m
o
d
u
latio
n
(
PW
M)
,
en
ab
lin
g
ef
f
icien
t
m
o
tio
n
a
n
d
to
r
q
u
e
g
e
n
er
atio
n
.
T
h
e
g
en
e
r
ated
m
o
to
r
to
r
q
u
e
is
tr
an
s
m
itted
th
r
o
u
g
h
th
e
d
r
iv
et
r
ain
,
d
r
iv
in
g
th
e
wh
ee
ls
to
p
r
o
d
u
ce
v
eh
icle
m
o
tio
n
.
An
o
t
h
er
cr
u
cial
f
lo
w
in
th
e
AGV
ar
ch
itectu
r
e
is
th
e
co
m
m
u
n
ic
atio
n
an
d
f
ee
d
b
ac
k
s
y
s
tem
.
T
h
e
b
lu
e
d
o
tted
lin
es
r
ep
r
esen
t
s
ig
n
al
in
ter
ac
tio
n
s
with
in
a
clo
s
ed
-
lo
o
p
co
n
tr
o
l
s
y
s
tem
,
wh
er
e
f
ee
d
b
ac
k
s
ig
n
als
ar
e
tr
an
s
m
it
ted
th
r
o
u
g
h
s
en
s
o
r
s
an
d
c
o
m
m
u
n
icatio
n
d
ev
ices,
in
clu
d
in
g
en
co
d
er
s
,
cu
r
r
en
t
s
en
s
o
r
s
,
d
is
tan
ce
s
en
s
o
r
s
,
o
b
s
tacle
d
etec
to
r
s
,
I
MU
s
,
an
d
th
e
co
m
m
u
n
icatio
n
n
etwo
r
k
.
T
h
e
m
o
tio
n
s
an
d
co
n
tr
o
l
f
ee
d
b
ac
k
ar
e
r
eg
u
lated
th
r
o
u
g
h
a
c
o
n
tr
o
ller
p
r
o
ce
s
s
ed
u
s
in
g
c
o
n
tr
o
l
alg
o
r
ith
m
s
lik
e
p
r
o
p
o
r
tio
n
al
-
in
teg
r
al
-
d
er
iv
ati
v
e
(
PID
)
an
d
f
ield
-
o
r
ien
ted
co
n
t
r
o
l
(
FOC
)
[
1
4
]
.
All
s
u
b
s
y
s
tem
s
ar
e
e
m
b
ed
d
e
d
with
in
th
e
ch
ass
is
,
a
s
in
d
icate
d
b
y
th
e
g
r
ee
n
d
o
tted
lin
es,
an
d
in
ter
a
ct
with
th
e
p
ay
lo
ad
an
d
s
u
r
r
o
u
n
d
in
g
co
n
d
itio
n
s
,
wh
ile
ca
s
ter
wh
ee
ls
p
r
o
v
id
e
s
tab
ilit
y
an
d
m
an
eu
v
er
a
b
ilit
y
.
T
h
is
m
u
lti
-
d
o
m
ain
i
n
ter
ac
tio
n
h
ig
h
lig
h
ts
th
e
tig
h
tly
co
u
p
led
n
atu
r
e
o
f
AG
V
o
p
er
atio
n
,
w
h
er
e
o
v
er
all
ef
f
icien
cy
d
ep
en
d
s
o
n
co
o
r
d
in
a
ted
b
eh
a
v
io
r
ac
r
o
s
s
elec
tr
ical,
co
n
tr
o
l,
a
n
d
m
ec
h
a
n
ical
s
u
b
s
y
s
tem
s
r
ath
er
th
an
is
o
lated
o
p
tim
izatio
n
.
2
.
2
.
E
nerg
y
m
o
dellin
g
a
nd
ca
lcula
t
io
n
C
o
n
tin
u
o
u
s
o
p
e
r
atio
n
lead
s
to
p
o
wer
c
o
n
s
u
m
p
tio
n
an
d
g
r
ad
u
al
b
atter
y
e
n
er
g
y
d
e
p
letio
n
.
I
n
an
aly
zin
g
AGV
e
n
er
g
y
co
n
s
u
m
p
tio
n
,
s
tu
d
ies
co
m
m
o
n
ly
c
o
n
s
id
er
elec
tr
ical
asp
ec
ts
,
m
ec
h
an
ical
asp
ec
ts
,
o
r
a
co
m
b
in
atio
n
o
f
b
o
th
.
Fro
m
th
e
elec
tr
ical
p
e
r
s
p
ec
tiv
e,
t
o
tal
en
er
g
y
c
o
n
s
u
m
p
tio
n
is
m
ea
s
u
r
ed
at
t
h
e
p
o
we
r
s
o
u
r
ce
u
s
in
g
b
atter
y
v
o
ltag
e
an
d
c
u
r
r
en
t.
Mo
to
r
cu
r
r
en
t,
i
n
p
ar
ticu
la
r
,
r
ef
lects
tr
ac
tio
n
an
d
m
o
b
ilit
y
-
r
elate
d
lo
ad
d
em
a
n
d
s
[
1
5
]
.
T
h
e
elec
tr
ical
en
er
g
y
c
o
n
s
u
m
p
tio
n
ca
n
b
e
ex
p
r
ess
ed
as (
1
)
.
=
∫
(
1
)
W
h
er
e
E
lectrica
l
is
th
e
to
tal
en
e
r
g
y
s
u
p
p
lied
to
t
h
e
s
y
s
tem
,
V
battery
r
ep
r
esen
ts
th
e
b
atter
y
v
o
ltag
e,
I
motor
d
en
o
tes
th
e
cu
r
r
e
n
t
d
r
awn
b
y
th
e
m
o
to
r
,
an
d
dt
is
th
e
r
u
n
n
in
g
ti
m
e
d
u
r
atio
n
.
T
h
is
m
ea
s
u
r
em
en
t
m
eth
o
d
en
a
b
les
ac
cu
r
ate
esti
m
atio
n
o
f
to
tal
elec
tr
ical
en
er
g
y
co
n
s
u
m
p
tio
n
with
o
u
t
r
eq
u
ir
i
n
g
d
etailed
en
er
g
y
d
ata
f
r
o
m
in
d
iv
id
u
al
c
o
m
p
o
n
en
ts
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
17
,
No
.
3
,
Sep
tem
b
er
20
26
:
2070
-
2
0
8
5
2072
Fro
m
th
e
m
ec
h
an
ical
p
er
s
p
ec
t
iv
e,
en
er
g
y
r
e
p
r
esen
ts
th
e
u
s
e
f
u
l
wo
r
k
r
eq
u
i
r
ed
to
o
v
er
c
o
m
e
r
esis
tiv
e
f
o
r
ce
s
d
u
r
i
n
g
m
o
tio
n
.
B
ased
o
n
New
to
n
’
s
s
ec
o
n
d
law,
t
h
e
to
tal
tr
ac
tio
n
f
o
r
ce
ca
n
b
e
ex
p
r
e
s
s
ed
as [
1
6
]
.
=
+
+
+
(
2
)
W
h
e
r
e:
F
tot
al
:
to
tal
tr
ac
t
io
n
f
o
r
ce
(
N
)
,
m
a
:
i
n
e
r
ti
al
f
o
r
c
e
t
o
m
o
v
e
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e
r
o
b
o
t
f
o
r
m
is
m
ass
(
k
g
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a
n
d
a
is
ac
c
ele
r
a
ti
o
n
(
m
/s
2
)
,
F
rol
lin
g
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r
o
ll
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g
f
o
r
c
e
=
C
r
m
g
f
o
r
C
r
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th
e
r
o
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g
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esis
t
a
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e
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it
ati
o
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o
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ce
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,
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ie
nt
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r
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d
ie
n
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o
r
ce
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m
g
s
i
n
(
)
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o
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e
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in
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l
o
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e
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ag
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r
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g
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o
r
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e
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2
2
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ai
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e
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it
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,
C
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d
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r
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n
d
v
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o
t s
p
ee
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.
T
h
e
m
ec
h
an
ical
e
n
er
g
y
r
eq
u
ir
ed
f
o
r
m
o
tio
n
is
th
en
g
iv
e
n
b
y
(
3
)
,
ℎ
=
∫
.
(
3
)
wh
er
e
d
s
is
th
e
d
if
f
er
en
tial d
is
p
lace
m
en
t.
T
h
is
f
o
r
m
u
latio
n
r
ep
r
esen
ts
th
e
wo
r
k
r
eq
u
ir
ed
to
o
v
er
co
m
e
r
esis
tiv
e
f
o
r
ce
s
d
u
r
in
g
AGV
o
p
e
r
atio
n
.
Un
lik
e
th
e
elec
tr
ical
m
o
d
el,
th
is
m
ec
h
an
ical
m
o
d
el
e
n
ab
le
s
th
e
esti
m
atio
n
o
f
en
er
g
y
co
n
tr
i
b
u
tio
n
s
f
r
o
m
d
if
f
er
en
t
ef
f
ec
ts
with
in
th
e
s
y
s
tem
.
T
h
e
r
elatio
n
s
h
ip
b
etwe
en
elec
tr
ical
in
p
u
t
an
d
u
s
ef
u
l m
ec
h
an
ical
o
u
tp
u
t c
a
n
b
e
ex
p
r
ess
ed
th
r
o
u
g
h
s
y
s
tem
e
f
f
icien
cy
,
=
ℎ
(
4
)
wh
er
e
r
ep
r
esen
ts
th
e
o
v
er
a
ll
en
er
g
y
c
o
n
v
er
s
io
n
ef
f
icien
cy
.
A
lo
wer
ef
f
icien
c
y
in
d
ic
ates
g
r
ea
ter
en
er
g
y
lo
s
s
es o
cc
u
r
r
in
g
d
u
r
in
g
e
n
er
g
y
co
n
v
er
s
io
n
,
tr
a
n
s
m
is
s
io
n
,
an
d
d
r
iv
etr
ai
n
o
p
e
r
atio
n
.
T
h
ese
en
er
g
y
r
elatio
n
s
h
ip
s
e
n
ab
le
th
e
q
u
an
tific
atio
n
o
f
t
o
tal
en
er
g
y
f
lo
w
f
r
o
m
in
p
u
t
to
o
u
tp
u
t,
p
r
o
v
id
i
n
g
a
b
asis
f
o
r
u
n
d
e
r
s
tan
d
in
g
s
y
s
tem
p
er
f
o
r
m
an
ce
a
n
d
id
en
tify
in
g
p
o
ten
tial
ar
ea
s
f
o
r
im
p
r
o
v
em
en
t
th
r
o
u
g
h
th
e
a
p
p
r
o
ac
h
es d
is
cu
s
s
ed
in
th
e
f
o
llo
win
g
s
ec
tio
n
s
.
Fig
u
r
e
1
.
AGV
s
y
s
tem
ar
ch
ite
ctu
r
e
an
d
s
u
b
s
y
s
tem
in
teg
r
atio
n
3.
RE
VI
E
W
O
F
CURR
E
N
T
E
NE
RG
Y
O
P
T
I
M
I
Z
A
T
I
O
N
ST
RA
T
E
G
Y
B
u
ild
in
g
u
p
o
n
th
e
en
er
g
y
r
elatio
n
s
h
ip
s
,
n
u
m
er
o
u
s
o
p
tim
iz
atio
n
s
tr
ateg
ies
h
av
e
b
ee
n
p
r
o
p
o
s
ed
t
o
im
p
r
o
v
e
AGV
en
er
g
y
e
f
f
icien
cy
an
d
o
v
er
all
s
y
s
tem
p
e
r
f
o
r
m
an
ce
.
I
n
th
is
s
tu
d
y
,
t
h
e
ex
is
tin
g
ap
p
r
o
ac
h
es
ar
e
ca
teg
o
r
ized
in
t
o
th
r
ee
m
ain
g
r
o
u
p
s
,
n
am
ely
o
p
tim
izatio
n
th
r
o
u
g
h
c
o
n
tr
o
l
-
b
ased
o
p
er
a
tio
n
al
ap
p
r
o
ac
h
es,
wh
ich
f
o
cu
s
o
n
o
p
er
atio
n
al
s
t
r
ateg
ies
an
d
co
n
t
r
o
l
m
eth
o
d
s
;
o
p
tim
izatio
n
th
r
o
u
g
h
c
o
m
p
u
tatio
n
al
ap
p
r
o
ac
h
es,
wh
ich
in
v
o
lv
e
in
tellig
en
t
alg
o
r
ith
m
s
an
d
co
m
p
u
tatio
n
al
tec
h
n
iq
u
es
;
an
d
o
p
tim
izatio
n
th
r
o
u
g
h
en
e
r
g
y
s
y
s
tem
ap
p
r
o
ac
h
es,
f
o
cu
s
in
g
o
n
e
n
er
g
y
s
u
p
p
ly
,
s
to
r
ag
e,
a
n
d
r
ec
o
v
er
y
s
y
s
tem
s
.
T
h
ese
ca
teg
o
r
i
es
p
r
o
v
id
e
a
cl
o
s
er
o
v
er
v
iew
o
f
cu
r
r
en
t d
ir
ec
tio
n
s
in
AGV
en
er
g
y
o
p
tim
izatio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
To
w
a
r
d
en
erg
y
-
efficien
t A
GV
s
:
A
r
ev
iew
o
f m
ec
h
a
n
ica
l d
esi
g
n
co
n
tr
ib
u
tio
n
s
a
n
d
…
(
A
miz
i No
o
r
)
2073
3
.
1
.
O
pti
m
iza
t
io
n t
hro
ug
h c
o
ntr
o
l
-
ba
s
ed
o
pera
t
io
na
l a
p
pro
a
ches
Du
r
in
g
o
p
er
atio
n
,
AGV
m
o
ti
o
n
is
co
n
tin
u
o
u
s
ly
af
f
ec
ted
b
y
v
ar
io
u
s
o
p
er
atio
n
al
f
ac
to
r
s
th
at
m
ay
ca
u
s
e
d
ev
iatio
n
s
f
r
o
m
th
e
p
l
an
n
ed
tr
ajec
to
r
y
,
r
esu
ltin
g
in
o
p
e
r
atio
n
al
i
n
ef
f
icien
cies
an
d
in
cr
ea
s
ed
en
e
r
g
y
co
n
s
u
m
p
tio
n
.
T
h
ese
d
is
tu
r
b
a
n
ce
s
in
f
lu
en
ce
th
e
to
tal
tr
ac
tio
n
f
o
r
ce
d
escr
ib
e
d
in
(
2
)
,
l
ea
d
in
g
to
in
cr
ea
s
ed
en
er
g
y
d
e
m
an
d
s
d
u
r
i
n
g
m
o
ti
o
n
.
C
o
n
s
eq
u
en
tly
,
c
o
n
tr
o
ller
s
ar
e
em
p
lo
y
ed
to
im
p
r
o
v
e
t
r
ajec
to
r
y
tr
ac
k
in
g
,
o
b
s
tacle
av
o
id
an
ce
,
a
n
d
m
o
tio
n
s
tab
ilit
y
d
u
r
in
g
m
o
tio
n
p
lan
n
in
g
a
n
d
ex
ec
u
tio
n
wh
il
e
also
s
u
p
p
o
r
tin
g
en
er
g
y
-
co
n
s
cio
u
s
o
p
er
atio
n
t
h
r
o
u
g
h
ef
f
icien
t p
ath
p
lan
n
in
g
,
s
p
ee
d
r
eg
u
latio
n
,
ac
ce
ler
atio
n
co
n
tr
o
l,
an
d
p
o
wer
m
an
ag
em
en
t
[
1
2
]
,
[
1
7
]
.
L
o
ad
co
n
d
itio
n
s
an
d
p
ath
g
eo
m
etr
y
ar
e
two
m
ajo
r
f
ac
to
r
s
in
f
lu
en
cin
g
AGV
o
p
er
atio
n
al
p
e
r
f
o
r
m
a
n
ce
an
d
en
e
r
g
y
co
n
s
u
m
p
tio
n
.
As
p
ay
lo
ad
i
n
cr
ea
s
es,
h
ig
h
e
r
d
r
iv
in
g
to
r
q
u
e
is
r
e
q
u
ir
ed
,
r
esu
ltin
g
in
g
r
ea
ter
en
e
r
g
y
co
n
s
u
m
p
tio
n
,
as
s
h
o
wn
b
y
[
1
8
]
.
E
x
ce
s
s
iv
e
lo
ad
in
g
m
ay
also
in
cr
ea
s
e
en
er
g
y
l
o
s
s
es
d
u
e
to
wh
ee
l
d
ef
o
r
m
atio
n
[
1
9
]
an
d
in
cr
ea
s
e
to
r
s
io
n
al
f
o
r
ce
d
u
r
in
g
co
r
n
e
r
in
g
[
2
0
]
.
I
n
clin
ed
s
u
r
f
ac
es
in
cr
ea
s
e
p
o
wer
d
em
an
d
d
u
e
t
o
g
r
av
itatio
n
al
ef
f
ec
ts
[
2
1
]
-
[
2
3
]
,
an
d
cu
r
v
ed
p
ath
s
r
eq
u
ir
e
ad
d
itio
n
al
s
teer
in
g
ef
f
o
r
t [
2
4
]
,
[
2
5
]
.
Var
io
u
s
co
n
tr
o
l
-
b
ased
s
tr
ateg
ies
h
av
e
b
ee
n
d
ev
elo
p
e
d
to
i
m
p
r
o
v
e
AGV
m
o
tio
n
ef
f
icien
cy
u
n
d
er
lo
ad
an
d
p
ath
v
ar
iatio
n
s
.
On
e
im
p
o
r
tan
t
ap
p
r
o
ac
h
in
v
o
lv
e
s
s
p
ee
d
p
r
o
f
ilin
g
a
n
d
m
o
tio
n
m
an
ag
em
en
t.
Fo
r
ex
am
p
le,
[
2
6
]
p
r
o
p
o
s
ed
a
s
p
e
ed
co
n
tr
o
l
s
tr
ateg
y
b
ased
o
n
s
teer
in
g
an
g
le,
wh
er
e
s
m
aller
w
h
ee
l
tu
r
n
in
g
an
g
les
allo
w
h
ig
h
er
tr
av
ellin
g
s
p
ee
d
s
,
th
er
eb
y
r
ed
u
cin
g
tr
av
el
tim
e
an
d
o
v
e
r
all
en
er
g
y
c
o
n
s
u
m
p
tio
n
.
Oth
e
r
s
tu
d
ies
in
tr
o
d
u
ce
c
o
n
tr
o
l
f
o
r
m
ai
n
tain
in
g
m
o
tio
n
s
tab
ilit
y
[
2
7
]
-
[
2
9
]
b
y
u
s
in
g
ad
a
p
tiv
e
s
p
ee
d
c
o
n
tr
o
l
s
tr
ateg
ies
to
m
in
im
ize
u
n
n
ec
ess
ar
y
en
e
r
g
y
d
is
s
ip
atio
n
d
u
r
in
g
o
p
e
r
atio
n
.
Sp
ee
d
p
r
o
f
ilin
g
also
i
n
co
r
p
o
r
ates
ac
ce
ler
atio
n
m
an
ag
em
en
t
s
tr
ateg
ies
to
r
ed
u
ce
ab
r
u
p
t
m
o
tio
n
ch
a
n
g
es
a
n
d
im
p
r
o
v
e
o
v
er
all
e
n
er
g
y
ef
f
icien
cy
[
2
4
]
.
T
h
ese
s
p
ee
d
an
d
ac
ce
ler
atio
n
co
n
tr
o
l
p
r
o
f
iles
h
elp
p
r
ev
e
n
t
s
u
d
d
en
p
o
wer
s
u
r
g
es
wh
ile
p
r
o
m
o
tin
g
s
m
o
o
th
er
an
d
m
o
r
e
co
o
r
d
in
ate
d
o
p
e
r
atio
n
.
I
n
b
r
o
ad
er
o
p
er
atio
n
al
ap
p
li
ca
tio
n
s
,
s
im
ilar
co
n
tr
o
l
s
tr
at
eg
ies
ar
e
im
p
lem
en
ted
in
g
l
o
b
al
p
ath
p
lan
n
in
g
,
wh
er
e
AGVs
ad
ju
s
t
s
p
ee
d
p
r
o
f
iles
ac
co
r
d
in
g
to
v
ar
y
in
g
p
ath
co
n
d
itio
n
s
d
u
r
i
n
g
co
n
tin
u
o
u
s
task
ex
ec
u
tio
n
s
.
T
o
ad
d
r
ess
th
e
co
m
p
lex
ity
o
f
d
ec
is
io
n
-
m
a
k
in
g
,
in
tellig
en
t
p
ath
-
p
lan
n
in
g
alg
o
r
ith
m
s
ar
e
d
ev
elo
p
e
d
with
p
r
io
r
ity
o
n
e
n
er
g
y
s
av
in
g
b
y
id
en
tify
i
n
g
r
o
u
tes
with
m
in
im
al
g
eo
m
etr
ic
d
is
tu
r
b
an
ce
s
an
d
o
b
s
tacle
in
ter
f
er
en
ce
.
Su
ch
p
a
th
s
en
ab
le
s
m
o
o
th
er
m
o
tio
n
,
r
ed
u
ce
d
o
b
s
tacle
-
av
o
id
an
ce
m
an
eu
v
er
s
,
an
d
m
o
r
e
s
tab
le
h
ig
h
-
s
p
ee
d
tr
av
el,
th
er
eb
y
lo
wer
in
g
o
v
er
all
e
n
er
g
y
co
n
s
u
m
p
tio
n
[
3
0
]
-
[
3
2
]
.
I
n
m
u
lti
-
AGV
s
y
s
tem
s
,
th
ese
s
tr
ateg
ies
ar
e
f
u
r
t
h
er
in
t
eg
r
ated
with
s
ch
e
d
u
lin
g
an
d
c
o
o
r
d
in
atio
n
m
ec
h
an
is
m
s
to
r
e
d
u
ce
o
v
er
all
en
e
r
g
y
co
n
s
u
m
p
tio
n
w
h
ile
im
p
r
o
v
in
g
s
y
s
tem
ef
f
icien
cy
an
d
o
p
er
ati
o
n
al
p
er
f
o
r
m
an
ce
[
2
2
]
,
[
3
3
]
-
[
3
5
]
.
T
o
s
u
m
m
ar
ize,
o
p
er
atio
n
al
en
e
r
g
y
o
p
tim
izatio
n
m
ain
ly
f
o
c
u
s
es
o
n
m
in
im
izin
g
f
ac
to
r
s
th
at
in
cr
ea
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e
en
er
g
y
co
n
s
u
m
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tio
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u
ch
as
u
n
f
av
o
r
ab
le
p
at
h
co
n
d
itio
n
s
an
d
lo
ad
v
ar
iatio
n
s
,
wh
ile
m
ain
tain
in
g
s
tab
le
h
ig
h
-
s
p
ee
d
o
p
er
atio
n
t
o
r
ed
u
ce
tr
a
v
ellin
g
tim
e
in
ac
c
o
r
d
an
ce
with
(
1
)
,
as d
ep
icted
in
Fig
u
r
e
2
.
Fig
u
r
e
2
s
u
g
g
ests
th
e
q
u
alitativ
e
r
elatio
n
s
h
ip
b
etwe
en
e
n
er
g
y
co
n
s
u
m
p
tio
n
,
o
p
er
atio
n
al
n
o
is
e
f
ac
to
r
s
,
an
d
AGV
s
p
ee
d
.
I
n
cr
ea
s
ed
d
is
tu
r
b
an
ce
s
s
u
ch
as
lo
ad
an
d
p
ath
co
n
d
itio
n
s
ten
d
t
o
in
cr
ea
s
e
en
er
g
y
co
n
s
u
m
p
tio
n
,
wh
ile
ef
f
icien
t
s
p
ee
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r
e
g
u
latio
n
ca
n
h
elp
im
p
r
o
v
e
o
p
er
atio
n
al
ef
f
icien
cy
.
T
h
er
ef
o
r
e,
co
n
tr
o
ller
s
ar
e
d
esig
n
ed
to
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tellig
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tly
b
alan
ce
th
ese
f
ac
to
r
s
d
u
r
i
n
g
AGV
o
p
er
atio
n
.
T
h
is
d
is
cu
s
s
io
n
h
ig
h
lig
h
ts
h
o
w
m
ec
h
an
ical
f
ac
to
r
s
s
u
c
h
as
s
lip
p
in
g
,
s
k
id
d
i
n
g
,
a
n
d
s
t
ab
ilit
y
af
f
ec
t
tr
ajec
to
r
y
d
ev
iatio
n
an
d
e
n
er
g
y
co
n
s
u
m
p
tio
n
,
wh
ile
co
n
tr
o
ller
s
in
ter
v
en
e
to
m
ain
tain
s
tab
le
an
d
en
e
r
g
y
-
ef
f
icien
t
o
p
e
r
atio
n
.
T
h
e
h
ig
h
ly
s
u
cc
ess
f
u
l
an
d
clo
s
e
in
ter
ac
tio
n
b
etwe
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co
n
tr
o
ller
s
an
d
m
ec
h
an
ical
d
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r
b
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ce
s
h
as
led
to
a
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ig
n
if
ican
t
in
cr
ea
s
e
in
s
tu
d
ies o
n
co
n
tr
o
l
-
b
ased
ap
p
r
o
ac
h
es.
Fig
u
r
e
2
.
I
ll
u
s
tr
atio
n
o
f
t
h
e
r
el
atio
n
s
h
ip
b
etwe
en
AGV
en
er
g
y
co
n
s
u
m
p
tio
n
,
n
o
is
e
f
ac
to
r
s
,
an
d
s
p
ee
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
17
,
No
.
3
,
Sep
tem
b
er
20
26
:
2070
-
2
0
8
5
2074
3
.
2
.
O
pti
m
iza
t
io
n t
hro
ug
h c
o
m
pu
t
a
t
io
na
l
a
pp
ro
a
ches
As
d
escr
ib
ed
b
y
[
3
6
]
,
th
e
lev
els
o
f
co
n
tr
o
l
co
m
p
lex
ity
ca
n
g
en
er
ally
b
e
ca
teg
o
r
ize
d
in
to
class
ica
l,
m
etah
eu
r
is
tic,
an
d
ar
tific
ial
i
n
tellig
en
ce
-
b
ased
m
eth
o
d
s
.
C
las
s
ical
alg
o
r
ith
m
s
,
s
u
ch
a
s
A*
an
d
Dijk
s
tr
a,
p
r
o
v
id
e
r
eliab
le
s
o
lu
tio
n
s
with
r
elativ
ely
lo
w
co
m
p
u
tatio
n
al
co
m
p
lex
ity
but
e
x
h
ib
it
lim
ited
ad
ap
tab
ilit
y
in
d
y
n
am
ic
en
v
ir
o
n
m
en
ts
.
I
n
c
o
n
tr
ast,
m
etah
eu
r
is
tic
ap
p
r
o
a
ch
es
o
f
f
er
g
r
ea
te
r
ca
p
ab
ilit
y
in
h
an
d
lin
g
m
u
lti
-
co
n
s
tr
ain
t
o
p
tim
izatio
n
p
r
o
b
l
em
s
,
alth
o
u
g
h
th
ey
t
y
p
ically
r
eq
u
ir
e
h
ig
h
er
co
m
p
u
tatio
n
al
ef
f
o
r
t,
wh
ich
m
a
y
lim
it r
ea
l
-
tim
e
p
er
f
o
r
m
an
ce
.
As
AGV
o
p
er
atin
g
en
v
ir
o
n
m
e
n
ts
b
ec
o
m
e
in
cr
ea
s
in
g
ly
co
m
p
lex
,
th
ese
o
p
tim
izatio
n
tec
h
n
i
q
u
es
m
u
s
t
ac
co
m
m
o
d
ate
m
u
ltip
le
lay
er
s
o
f
d
ec
is
io
n
-
m
ak
in
g
a
n
d
d
y
n
am
ic
o
p
er
atio
n
al
co
n
s
tr
ain
ts
.
C
o
n
s
eq
u
en
tly
,
co
n
tr
o
l
-
b
ased
AGV
s
y
s
tem
s
h
av
e
ev
o
lv
ed
t
o
war
d
m
o
r
e
in
te
llig
en
t
an
d
co
m
p
u
tatio
n
ally
in
ten
s
iv
e
ap
p
r
o
ac
h
es
to
ac
h
iev
e
ac
cu
r
ate
an
d
r
elia
b
le
o
p
er
atio
n
.
Ho
wev
e
r
,
n
o
s
in
g
le
alg
o
r
ith
m
ca
n
ac
h
iev
e
o
p
tim
al
p
er
f
o
r
m
a
n
ce
u
n
d
er
all
o
p
er
atin
g
co
n
d
itio
n
s
,
lead
in
g
to
t
h
e
ad
o
p
tio
n
o
f
h
y
b
r
id
co
n
tr
o
l a
p
p
r
o
ac
h
es [
1
4
]
,
[
3
7
]
-
[
3
9
]
.
I
n
r
ec
en
t
y
ea
r
s
,
h
y
b
r
i
d
co
n
t
r
o
l
s
y
s
t
em
s
h
av
e
i
n
c
r
ea
s
i
n
g
l
y
i
n
t
eg
r
a
te
d
a
r
t
if
i
ci
al
i
n
t
ell
ig
e
n
ce
(
AI
)
-
b
as
e
d
tec
h
n
i
q
u
es
to
a
c
h
ie
v
e
h
i
g
h
e
r
l
ev
els
o
f
a
d
a
p
ti
v
e
o
p
ti
m
i
za
ti
o
n
.
T
h
ese
a
p
p
r
o
a
c
h
es
e
n
a
b
l
e
AGVs
to
l
ea
r
n
f
r
o
m
an
d
r
es
p
o
n
d
t
o
d
y
n
a
m
i
c
o
p
e
r
at
io
n
al
c
o
n
d
iti
o
n
s
.
Am
o
n
g
A
I
-
b
ase
d
m
et
h
o
d
s
,
m
u
lti
-
a
g
en
t r
ei
n
f
o
r
ce
m
e
n
t le
a
r
n
i
n
g
(
MA
R
L
)
h
as
e
m
e
r
g
e
d
as
a
p
r
o
m
is
i
n
g
a
p
p
r
o
ac
h
f
o
r
c
o
o
r
d
i
n
at
in
g
m
u
lt
ip
le
A
GVs
t
h
r
o
u
g
h
co
lla
b
o
r
ati
v
e
lea
r
n
i
n
g
,
r
e
al
-
ti
m
e
d
ec
is
i
o
n
-
m
ak
i
n
g
,
a
n
d
d
is
tr
i
b
u
t
ed
c
o
n
t
r
o
l
[
4
0
]
,
[
4
1
]
.
Owi
n
g
to
t
h
es
e
c
a
p
a
b
il
iti
es,
A
I
-
b
as
e
d
ap
p
r
o
ac
h
es
a
r
e
i
n
cr
ea
s
i
n
g
l
y
a
p
p
lie
d
i
n
p
at
h
p
l
an
n
i
n
g
,
s
ch
e
d
u
li
n
g
,
o
b
s
ta
cle
a
v
o
i
d
a
n
c
e,
f
le
e
t
c
o
o
r
d
i
n
ati
o
n
,
a
n
d
en
er
g
y
m
a
n
ag
em
en
t
wit
h
i
n
s
m
ar
t
w
ar
eh
o
u
s
e
a
n
d
m
a
n
u
f
ac
tu
r
i
n
g
en
v
i
r
o
n
m
e
n
ts
[
4
2
]
,
[
4
3
]
.
Ho
wev
er
,
it
is
n
o
tab
le
th
at
AI
-
MA
R
L
r
eq
u
ir
es
s
u
b
s
tan
tial
co
m
p
u
tatio
n
al
r
eso
u
r
ce
s
d
u
e
to
h
ig
h
-
d
im
en
s
io
n
al
s
tate
r
ep
r
esen
tati
o
n
s
,
co
n
tin
u
o
u
s
lear
n
in
g
p
r
o
c
ess
es,
an
d
co
o
r
d
in
atio
n
am
o
n
g
m
u
ltip
le
ag
e
n
ts
.
T
o
m
itig
ate
th
ese
lim
itatio
n
s
,
s
tu
d
ies
h
av
e
ex
p
lo
r
ed
tech
n
iq
u
es
s
u
ch
as
s
tate
ab
s
tr
ac
tio
n
an
d
p
ar
am
ete
r
s
h
ar
in
g
to
im
p
r
o
v
e
s
ca
lab
ilit
y
an
d
r
ed
u
ce
co
m
p
u
tatio
n
al
b
u
r
d
en
[
4
4
]
,
[
4
5
]
.
E
f
f
o
r
ts
to
s
im
p
lify
co
m
p
u
tatio
n
al
p
r
o
ce
s
s
es
f
o
r
f
aster
ex
ec
u
tio
n
an
d
lo
wer
p
r
o
ce
s
s
in
g
en
er
g
y
c
o
n
s
u
m
p
tio
n
h
av
e
b
ee
n
r
ep
o
r
te
d
,
with
s
ig
n
if
ican
t
en
er
g
y
s
av
in
g
s
r
an
g
in
g
f
r
o
m
1
0
%
to
7
5
%
b
y
[
4
6
]
,
[
4
7
]
.
Nev
er
th
eless
,
r
ea
l
-
tim
e
im
p
lem
en
tatio
n
r
em
ain
s
ch
allen
g
in
g
d
u
e
to
co
n
tin
u
o
u
s
lear
n
in
g
r
eq
u
ir
em
en
ts
an
d
la
r
g
e
-
s
ca
le
m
u
lti
-
ag
en
t
co
o
r
d
in
at
io
n
,
wh
ich
ar
e
s
till
p
r
im
ar
ily
s
im
u
latio
n
-
b
ased
.
I
n
ad
d
itio
n
,
th
e
tr
ad
e
-
o
f
f
b
etwe
e
n
ac
h
iev
ed
en
er
g
y
s
av
in
g
s
an
d
th
e
co
m
p
u
tatio
n
al
en
er
g
y
co
n
s
u
m
p
tio
n
r
eq
u
ir
ed
b
y
th
ese
a
p
p
r
o
ac
h
es
r
em
ai
n
s
in
s
u
f
f
icien
tly
d
is
clo
s
ed
,
m
o
tiv
atin
g
o
n
g
o
in
g
ef
f
o
r
ts
to
r
e
d
u
ce
c
o
m
p
u
tatio
n
al
p
o
wer
d
em
an
d
.
T
h
e
d
is
cu
s
s
io
n
in
d
icate
s
th
at
f
u
tu
r
e
AGV
s
y
s
tem
s
wil
l
in
cr
ea
s
in
g
ly
r
el
y
o
n
ad
v
an
ce
d
co
m
p
u
tatio
n
al
a
p
p
r
o
ac
h
es,
ca
llin
g
f
o
r
th
e
ex
p
l
o
r
atio
n
o
f
m
u
ltip
le
en
er
g
y
o
p
tim
izatio
n
s
co
p
es r
ath
e
r
th
a
n
r
ely
in
g
s
o
lely
o
n
co
n
tr
o
ller
-
b
ased
m
eth
o
d
s
.
3
.
3
.
O
pti
m
iza
t
io
n t
hro
ug
h e
nerg
y
s
y
s
t
em
a
pp
ro
a
ches
B
esid
es
u
n
d
er
s
tan
d
in
g
co
n
tr
o
l
-
b
ased
s
tr
ateg
ies
an
d
th
eir
o
p
t
im
izatio
n
s
tr
ateg
ies,
it
is
also
im
p
o
r
tan
t
to
ex
am
in
e
s
tu
d
ies
r
elate
d
to
e
n
er
g
y
s
o
u
r
cin
g
,
s
to
r
a
g
e,
an
d
r
ec
o
v
er
y
tech
n
o
lo
g
ies.
T
h
is
d
is
cu
s
s
io
n
p
r
o
v
id
es
a
m
o
r
e
co
m
p
r
eh
e
n
s
iv
e
u
n
d
e
r
s
tan
d
in
g
o
f
en
er
g
y
m
a
n
ag
em
e
n
t
in
AGVs
an
d
h
elp
s
estab
lis
h
th
e
r
elatio
n
s
h
ip
b
etwe
en
co
n
tr
o
l
-
b
ased
a
p
p
r
o
ac
h
es,
en
er
g
y
s
u
p
p
l
y
ch
a
r
ac
ter
is
tics
,
an
d
ar
ea
s
o
f
c
o
n
tr
o
l
ler
in
ter
v
en
tio
n
f
o
r
f
u
r
th
er
e
n
er
g
y
o
p
tim
izatio
n
.
R
esear
ch
o
n
in
cr
ea
s
in
g
o
n
b
o
ar
d
en
e
r
g
y
s
u
p
p
ly
an
d
s
to
r
ag
e
h
as
p
r
e
d
o
m
in
a
n
tly
f
o
cu
s
ed
o
n
lith
iu
m
b
atter
y
tech
n
o
lo
g
ies
[
4
8
]
,
[
4
9
]
.
T
h
ese
s
tu
d
ies
in
v
esti
g
ate
alter
n
ativ
e
m
ater
ials
an
d
elec
tr
o
c
h
em
ical
co
m
p
o
s
itio
n
s
to
i
m
p
r
o
v
e
en
er
g
y
g
en
er
atio
n
,
tr
a
n
s
f
er
ef
f
icien
cy
,
an
d
s
to
r
ag
e
ca
p
ac
it
y
.
Mo
r
e
ad
v
a
n
ce
d
ap
p
r
o
ac
h
es
h
av
e
also
ex
p
lo
r
e
d
alter
n
ativ
e
en
er
g
y
s
o
u
r
ce
s
,
s
u
ch
as
f
u
el
ce
lls
[
5
0
]
,
[
5
1
]
,
wh
ich
o
f
f
er
f
aster
r
ef
u
elin
g
ca
p
ab
ilit
y
an
d
s
ig
n
if
ican
tly
lo
n
g
er
o
p
er
atin
g
d
u
r
ati
o
n
c
o
m
p
ar
e
d
to
co
n
v
en
tio
n
al
b
atter
y
s
y
s
tem
s
.
I
n
ad
d
itio
n
,
s
u
p
er
ca
p
ac
ito
r
s
h
av
e
b
ee
n
in
tr
o
d
u
ce
d
as
h
y
b
r
id
en
er
g
y
s
u
p
p
o
r
t
f
o
r
f
u
el
ce
ll
p
o
wer
s
y
s
tem
s
[
5
2
]
.
W
ith
th
e
ad
v
an
tag
e
o
f
f
ast
ch
ar
g
in
g
ca
p
ab
ilit
y
,
s
u
p
er
ca
p
a
cito
r
s
h
av
e
also
b
ee
n
wid
ely
s
tu
d
ied
in
h
y
b
r
id
b
atter
y
a
n
d
r
eg
e
n
er
ativ
e
e
n
e
r
g
y
s
y
s
tem
s
[
5
3
]
,
[
5
4
]
f
o
r
tr
an
s
ien
t
p
o
we
r
d
eliv
er
y
,
en
e
r
g
y
r
ec
o
v
e
r
y
,
an
d
im
p
r
o
v
e
d
o
v
e
r
all
s
y
s
tem
ef
f
i
cien
cy
.
T
h
e
s
ig
n
if
ican
t
ac
h
ie
v
em
en
ts
d
em
o
n
s
tr
ated
in
E
V
ap
p
licatio
n
s
,
wh
er
e
s
u
p
er
ca
p
ac
ito
r
-
b
ased
en
er
g
y
r
ec
o
v
er
y
i
m
p
r
o
v
es
o
p
er
ati
o
n
al
ef
f
icien
cy
b
y
a
p
p
r
o
x
im
ately
3
0
%
to
9
0
%
[
5
5
]
,
h
av
e
b
ec
o
m
e
a
s
tr
o
n
g
m
o
tiv
ati
o
n
f
o
r
f
u
r
th
er
im
p
lem
en
tatio
n
in
AGV
s
tu
d
ies.
Fo
r
en
er
g
y
r
ec
o
v
er
y
a
n
d
r
ep
l
en
is
h
m
en
t,
in
n
o
v
atio
n
s
in
c
h
ar
g
in
g
m
et
h
o
d
s
,
in
cl
u
d
in
g
f
ast
ch
ar
g
in
g
an
d
o
p
p
o
r
tu
n
ity
ch
ar
g
in
g
,
h
a
v
e
b
ee
n
wid
ely
s
tu
d
ie
d
to
r
ed
u
ce
o
p
e
r
atio
n
al
d
o
wn
tim
e.
Ma
jo
r
ef
f
o
r
ts
ar
e
f
o
cu
s
ed
o
n
o
v
er
co
m
in
g
lim
it
atio
n
s
r
elate
d
to
io
n
tr
an
s
p
o
r
t
,
ch
ar
g
e
tr
an
s
f
er
,
a
n
d
th
er
m
al
m
an
ag
em
en
t
[
5
6
]
.
T
h
e
ch
ar
g
in
g
p
r
o
ce
s
s
r
eq
u
ir
e
s
m
an
ag
em
en
t
o
f
s
o
p
h
is
ticated
b
atter
y
m
an
a
g
em
en
t
s
y
s
tem
s
(
B
MS)
,
f
o
cu
s
in
g
o
n
m
ain
tain
i
n
g
ef
f
icien
t
s
tate
-
of
-
ch
ar
g
e
(
SOC
)
co
n
t
r
o
l
an
d
p
r
eser
v
in
g
b
atter
y
s
tate
-
of
-
h
ea
l
th
(
SOH)
to
en
s
u
r
e
lo
n
g
-
ter
m
p
er
f
o
r
m
an
ce
a
n
d
o
p
er
atio
n
al
life
s
p
an
[
5
7
]
,
[
5
8
]
.
E
n
er
g
y
r
ep
len
is
h
m
en
t
tech
n
o
lo
g
ies
ar
e
co
m
m
o
n
l
y
in
teg
r
ated
with
ch
ar
g
in
g
in
f
r
a
s
tr
u
ctu
r
e
s
y
s
tem
s
b
ased
o
n
ch
ar
g
in
g
f
r
e
q
u
en
c
y
,
ch
ar
g
in
g
d
u
r
atio
n
,
an
d
d
o
ck
in
g
m
eth
o
d
.
T
o
im
p
r
o
v
e
a
u
to
m
at
ic
d
o
ck
in
g
p
er
f
o
r
m
a
n
ce
,
s
tu
d
ies
h
av
e
p
r
o
p
o
s
ed
s
elf
-
g
u
id
an
ce
an
d
m
ec
h
an
ical
alig
n
m
en
t
ap
p
r
o
ac
h
es
to
ac
h
ie
v
e
f
aster
an
d
m
o
r
e
ac
cu
r
ate
d
o
ck
in
g
p
r
o
ce
s
s
es
[
5
9
]
,
[
6
0
]
.
B
ased
o
n
th
e
en
er
g
y
-
r
elate
d
s
tu
d
ies d
is
cu
s
s
ed
ab
o
v
e,
th
e
r
ea
d
in
ess
o
f
o
n
b
o
ar
d
en
er
g
y
s
y
s
tem
s
is
s
u
m
m
ar
ized
in
T
ab
le
1
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
To
w
a
r
d
en
erg
y
-
efficien
t A
GV
s
:
A
r
ev
iew
o
f m
ec
h
a
n
ica
l d
esi
g
n
co
n
tr
ib
u
tio
n
s
a
n
d
…
(
A
miz
i No
o
r
)
2075
T
a
b
le
1
c
o
m
p
a
r
es
v
a
r
i
o
u
s
o
n
b
o
ar
d
e
n
er
g
y
te
c
h
n
o
l
o
g
i
es
u
s
e
d
t
o
e
n
h
a
n
c
e
AGV
e
n
e
r
g
y
c
ap
ac
i
ty
,
to
g
et
h
er
wit
h
t
h
ei
r
s
t
o
r
a
g
e
ca
p
a
b
il
iti
es
a
n
d
m
aj
o
r
i
m
p
le
m
e
n
ta
ti
o
n
c
h
a
lle
n
g
es
.
T
h
e
c
o
m
p
ar
is
o
n
i
n
d
ic
at
es
t
h
at
ad
v
a
n
ce
m
e
n
ts
i
n
en
er
g
y
s
o
u
r
ci
n
g
,
s
t
o
r
a
g
e
,
a
n
d
r
ec
o
v
e
r
y
te
ch
n
o
l
o
g
ies
h
a
v
e
s
t
r
o
n
g
p
o
te
n
t
ial
t
o
im
p
r
o
v
e
o
n
b
o
a
r
d
e
n
e
r
g
y
a
v
aila
b
i
lit
y
i
n
AGVs
.
Ho
we
v
e
r
,
f
r
o
m
a
tec
h
n
o
lo
g
i
ca
l
i
m
p
le
m
e
n
t
ati
o
n
p
e
r
s
p
ec
t
iv
e,
m
o
s
t
tec
h
n
o
lo
g
i
es
s
t
ill
la
c
k
r
e
ad
in
e
s
s
f
o
r
l
ar
g
e
-
s
ca
l
e
d
e
p
l
o
y
m
e
n
t
d
u
e
t
o
lim
ita
ti
o
n
s
i
n
tec
h
n
o
l
o
g
ic
al
m
a
tu
r
i
ty
a
n
d
co
s
t
.
T
h
e
r
e
f
o
r
e,
t
h
es
e
li
m
it
ati
o
n
s
h
i
g
h
li
g
h
t
t
h
e
i
m
p
o
r
ta
n
ce
o
f
b
r
o
ad
er
e
n
er
g
y
-
s
a
v
i
n
g
s
t
u
d
ies
f
o
r
AGV
s
y
s
te
m
s
.
Tab
le 1
.
Co
m
p
a
riso
n
o
f
o
n
b
o
a
rd
e
n
e
rg
y
st
o
ra
g
e
tec
h
n
o
l
o
g
ies
a
n
d
a
ss
o
c
iate
d
c
h
a
ll
e
n
g
e
s i
n
AG
Vs
Ty
p
e
s
o
f
p
o
w
e
r
s
u
p
p
l
y
O
n
b
o
a
r
d
e
n
e
r
g
y
s
t
o
r
a
g
e
c
a
p
a
c
i
t
y
M
a
j
o
r
c
h
a
l
l
e
n
g
e
s
B
a
t
t
e
r
y
H
i
g
h
M
a
t
e
r
i
a
l
c
o
mp
a
t
i
b
i
l
i
t
y
I
mp
l
e
me
n
t
a
t
i
o
n
c
o
s
t
:
M
o
d
e
r
a
t
e
S
u
p
e
r
c
a
p
a
c
i
t
o
r
M
o
d
e
r
a
t
e
t
o
v
e
r
y
h
i
g
h
M
a
t
e
r
i
a
l
c
o
mp
a
t
i
b
i
l
i
t
y
I
n
t
e
g
r
a
t
i
o
n
a
n
d
c
o
n
t
r
o
l
s
y
s
t
e
m
I
mp
l
e
me
n
t
a
t
i
o
n
c
o
s
t
:
M
o
d
e
r
a
t
e
t
o
h
i
g
h
.
F
u
e
l
c
e
l
l
(
a
l
t
e
r
n
a
t
i
v
e
p
o
w
e
r
s
o
u
r
c
e
)
V
e
r
y
h
i
g
h
S
p
a
c
e
r
e
q
u
i
r
e
m
e
n
t
I
n
t
e
g
r
a
t
i
o
n
a
n
d
c
o
n
t
r
o
l
s
y
s
t
e
m
I
mp
l
e
me
n
t
a
t
i
o
n
c
o
s
t
:
H
i
g
h
t
o
v
e
r
y
h
i
g
h
.
R
e
g
e
n
e
r
a
t
i
v
e
sy
s
t
e
m
M
o
d
e
r
a
t
e
t
o
h
i
g
h
I
n
t
e
g
r
a
t
i
o
n
a
n
d
c
o
n
t
r
o
l
s
y
s
t
e
m
I
mp
l
e
me
n
t
a
t
i
o
n
c
o
s
t
:
H
i
g
h
P
o
w
e
r
r
e
p
l
e
n
i
s
h
me
n
t
sy
s
t
e
m
H
i
g
h
I
n
f
r
a
st
r
u
c
t
u
r
e
p
r
e
p
a
r
a
t
i
o
n
I
n
t
e
g
r
a
t
i
o
n
a
n
d
c
o
n
t
r
o
l
s
y
s
t
e
m
(
B
M
S
)
I
mp
l
e
me
n
t
a
t
i
o
n
c
o
s
t
:
M
o
d
e
r
a
t
e
t
o
h
i
g
h
.
4.
CH
AL
L
E
NG
E
S IN
E
XI
ST
I
NG
E
NE
RG
Y
E
F
F
I
C
I
E
N
C
Y
AP
P
RO
ACH
E
S
T
h
e
r
e
v
iew
o
f
th
e
o
p
tim
izatio
n
ap
p
r
o
ac
h
es
p
r
esen
ted
in
s
ec
tio
n
3
p
r
o
v
id
es
a
b
r
o
ad
e
r
u
n
d
er
s
tan
d
in
g
o
f
cu
r
r
e
n
t
AGV
en
er
g
y
r
esear
ch
tr
en
d
s
an
d
ass
o
ciate
d
ch
allen
g
es.
Ov
er
all,
ex
is
tin
g
s
tu
d
ies
s
till
ex
h
ib
it
s
ev
er
al
lim
itatio
n
s
,
wh
ich
ca
n
b
e
s
u
m
m
ar
ized
i
n
to
f
iv
e
m
ajo
r
ch
allen
g
e
ar
ea
s
.
i)
Ov
er
-
r
elian
ce
o
n
co
n
tr
o
l
-
b
ase
d
m
eth
o
d
s
C
u
r
r
en
t
r
esear
ch
o
n
co
n
tr
o
l
-
b
ased
m
eth
o
d
s
a
d
o
p
ts
wid
el
y
p
o
p
u
lar
f
r
a
m
ewo
r
k
s
s
u
c
h
as
th
e
R
o
b
o
t
Op
er
atin
g
Sy
s
tem
(
R
OS)
[
6
1
]
,
[
6
2
]
.
H
o
wev
er
,
th
ese
ap
p
r
o
a
ch
es
co
m
m
o
n
ly
t
r
ea
t
m
ec
h
a
n
i
ca
l
ch
ar
ac
ter
is
tics
as
f
ix
ed
p
ar
am
eter
s
,
with
li
m
ited
co
n
s
id
er
atio
n
o
f
th
eir
in
f
lu
e
n
ce
o
n
e
n
er
g
y
c
o
n
s
u
m
p
tio
n
a
n
d
s
y
s
tem
p
er
f
o
r
m
an
ce
.
ii)
C
o
m
p
u
tatio
n
al
co
m
p
lex
ity
an
d
en
er
g
y
o
v
er
h
ea
d
T
h
e
in
cr
ea
s
in
g
u
s
e
o
f
ar
tific
i
al
in
tellig
en
ce
,
a
d
v
an
c
ed
s
en
s
in
g
tech
n
o
lo
g
ies,
a
n
d
e
x
ten
s
iv
e
s
en
s
o
r
in
teg
r
atio
n
h
as
im
p
r
o
v
e
d
AG
V
in
tellig
en
ce
a
n
d
ad
ap
ta
b
ilit
y
,
b
u
t
also
in
cr
ea
s
ed
en
er
g
y
c
o
n
s
u
m
p
tio
n
d
u
e
t
o
h
ig
h
er
co
m
p
u
tatio
n
al
d
em
an
d
.
T
h
er
e
f
o
r
e,
th
e
tr
ad
e
-
o
f
f
b
et
wee
n
s
y
s
tem
p
er
f
o
r
m
a
n
ce
a
n
d
en
e
r
g
y
ef
f
icien
c
y
m
u
s
t
b
e
ca
r
ef
u
lly
a
d
d
r
ess
ed
,
alth
o
u
g
h
th
e
a
d
d
itio
n
al
en
er
g
y
d
em
an
d
ass
o
ciate
d
with
in
cr
ea
s
in
g
co
m
p
u
tatio
n
al
co
m
p
lex
ity
h
a
s
y
et
to
b
e
q
u
an
titativ
ely
in
v
esti
g
ated
an
d
r
em
ain
s
a
r
ec
o
g
n
ized
c
h
allen
g
e
in
in
tellig
en
t A
GV
s
y
s
tem
s
[
3
]
,
[
6
3
]
.
iii)
Fra
g
m
en
ted
an
d
I
s
o
lated
Stu
d
i
es
C
u
r
r
en
t
AGV
en
er
g
y
o
p
tim
iz
atio
n
s
tu
d
ies
o
f
ten
ad
d
r
ess
co
m
p
lex
s
y
s
tem
p
ar
am
eter
s
in
is
o
latio
n
.
T
h
er
ef
o
r
e,
m
o
r
e
in
te
g
r
ated
o
p
tim
izatio
n
ap
p
r
o
ac
h
es
ar
e
n
ee
d
ed
to
ac
h
iev
e
b
r
o
ad
e
r
an
d
m
o
r
e
ef
f
ec
tiv
e
p
ar
am
eter
o
p
tim
izatio
n
,
as su
g
g
ested
b
y
[
6
4
]
.
iv
)
Dep
en
d
en
ce
o
n
s
im
u
latio
n
-
b
a
s
ed
v
alid
atio
n
Ma
n
y
s
tu
d
ies
r
ely
o
n
s
im
u
lati
o
n
en
v
i
r
o
n
m
e
n
ts
,
as
th
e
av
ailab
ilit
y
o
f
o
p
e
n
-
s
o
u
r
ce
p
latf
o
r
m
s
s
u
ch
as
R
OS
in
teg
r
ated
with
Gaz
eb
o
[
6
5
]
,
[
6
6
]
f
ac
ilit
ates
wid
esp
r
ea
d
an
d
ac
tiv
e
u
s
e
o
f
s
im
u
latio
n
d
u
e
t
o
th
eir
lo
w
co
s
t,
f
lex
ib
ilit
y
,
an
d
h
ig
h
r
e
p
ea
tab
ilit
y
.
Ho
wev
er
,
v
alid
atio
n
u
n
d
e
r
r
ea
l
-
wo
r
l
d
o
p
e
r
atin
g
co
n
d
itio
n
s
r
em
ain
s
lim
ited
.
v)
I
m
m
atu
r
e
d
ev
elo
p
m
en
t o
f
n
e
w
en
er
g
y
s
o
u
r
cin
g
tech
n
o
l
o
g
i
es
E
m
er
g
in
g
en
er
g
y
tech
n
o
lo
g
i
es,
in
clu
d
in
g
ad
v
a
n
ce
d
b
atter
ies,
s
u
p
er
ca
p
ac
ito
r
s
,
f
u
el
ce
lls
,
an
d
r
eg
en
er
ativ
e
s
y
s
tem
s
,
o
f
f
er
p
r
o
m
is
in
g
p
e
r
f
o
r
m
an
ce
im
p
r
o
v
em
en
ts
.
Ho
wev
er
,
th
eir
a
d
o
p
tio
n
in
in
d
u
s
tr
ial
AGV
s
y
s
tem
s
r
em
ain
s
co
n
s
tr
ain
ed
b
y
co
s
t,
in
te
g
r
atio
n
c
o
m
p
lex
ity
,
an
d
im
p
lem
en
tatio
n
ch
allen
g
es
[
6
7
]
,
[
6
8
]
.
Ho
wev
er
,
o
b
s
er
v
atio
n
s
of
th
eir
p
r
o
g
r
ess
r
em
ain
r
elativ
ely
s
lo
w
co
m
p
ar
ed
to
t
h
e
g
r
o
win
g
d
em
an
d
f
o
r
ad
v
an
ce
d
AGV
ap
p
licatio
n
s
a
s
r
ep
o
r
ted
b
y
[
6
9
]
.
v
i)
Un
d
er
r
ep
r
esen
tatio
n
o
f
m
ec
h
a
n
ical
d
esig
n
o
p
tim
izatio
n
Me
ch
an
ical
d
esig
n
r
em
ain
s
r
elativ
ely
u
n
d
e
r
ex
p
lo
r
ed
d
esp
ite
its
d
ir
ec
t
in
f
lu
en
ce
o
n
m
o
b
ilit
y
b
eh
av
io
r
an
d
p
o
wer
d
em
a
n
d
,
as
m
ain
ly
d
is
cu
s
s
ed
in
3
.
1
.
A
lth
o
u
g
h
s
o
m
e
wo
r
k
s
ac
k
n
o
wled
g
e
d
r
iv
etr
ain
an
d
tr
ac
tio
n
s
y
s
tem
s
,
th
eir
r
o
le
in
en
er
g
y
o
p
tim
izatio
n
is
r
ar
ely
i
n
v
esti
g
ated
s
y
s
tem
atica
lly
co
m
p
ar
ed
to
elec
tr
ical
an
d
co
n
tr
o
l
-
b
ased
a
p
p
r
o
ac
h
es
[
7
0
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
17
,
No
.
3
,
Sep
tem
b
er
20
26
:
2070
-
2
0
8
5
2076
5.
M
E
CH
A
NICA
L
D
E
SI
G
N
C
O
NT
RI
B
U
T
I
O
N
T
O
E
NE
R
G
Y
O
P
T
I
M
I
Z
A
T
I
O
N
Sectio
n
3
.
1
alr
ea
d
y
d
is
cu
s
s
ed
h
o
w
m
ec
h
a
n
ical
d
esig
n
asp
e
cts
in
f
lu
en
ce
AGV
en
er
g
y
p
e
r
f
o
r
m
a
n
ce
th
r
o
u
g
h
th
eir
ef
f
ec
ts
o
n
tr
ac
tio
n
b
eh
av
io
r
,
m
o
tio
n
s
tab
ilit
y
,
an
d
d
r
iv
etr
ain
ef
f
icien
c
y
.
Alth
o
u
g
h
th
es
e
m
ec
h
an
ical
f
ac
t
o
r
s
h
a
v
e
b
ee
n
wid
ely
s
tu
d
ied
,
th
ey
ar
e
o
f
te
n
in
v
esti
g
ated
s
ep
ar
ately
an
d
ar
e
r
ar
ely
d
ir
ec
tly
ass
o
ciate
d
with
en
er
g
y
p
er
f
o
r
m
an
ce
.
T
h
er
ef
o
r
e,
th
is
s
ec
tio
n
r
ev
iews
m
ec
h
an
ical
d
esig
n
s
tr
ateg
ies
th
at
ar
e
co
m
m
o
n
l
y
s
tu
d
ied
in
d
e
p
en
d
e
n
tly
o
f
en
e
r
g
y
awa
r
en
ess
b
u
t
h
av
e
p
o
ten
tial
f
o
r
f
u
tu
r
e
in
teg
r
atio
n
in
to
en
e
r
g
y
-
awa
r
e
s
y
s
tem
s
.
5
.
1
.
Driv
e
t
ra
in
co
nfig
ura
t
io
n
Dr
iv
etr
ain
co
n
f
ig
u
r
atio
n
r
ef
er
s
to
th
e
m
o
to
r
ch
ar
ac
ter
is
tics
,
g
ea
r
b
o
x
r
atio
,
an
d
wh
ee
l
s
i
ze
,
wh
ich
to
g
eth
er
in
f
l
u
en
ce
to
r
q
u
e
d
eli
v
er
y
an
d
o
v
e
r
all
AGV
en
er
g
y
ef
f
icien
cy
.
O
n
e
im
p
o
r
tan
t
a
s
p
ec
t
o
f
d
r
iv
etr
ain
d
esig
n
is
m
o
to
r
s
izin
g
,
in
wh
ich
th
e
m
o
to
r
is
s
elec
ted
to
s
atis
f
y
th
e
r
eq
u
ir
ed
tr
ac
tio
n
t
o
r
q
u
e
an
d
o
p
er
atin
g
s
p
ee
d
wh
ile
co
n
s
id
er
in
g
th
e
wh
ee
l
d
iam
eter
,
g
ea
r
r
atio
,
an
d
d
r
iv
etr
ain
e
f
f
icien
cy
[
7
1
]
.
C
o
m
m
o
n
m
o
to
r
ch
o
ices
f
o
r
AGV
ap
p
licatio
n
s
in
clu
d
e
PMSM
an
d
B
L
DC
m
o
to
r
s
.
C
o
m
p
a
r
ed
with
B
L
DC
m
o
to
r
s
,
PMSM
m
o
to
r
s
ex
h
ib
it a
p
p
r
o
x
im
ately
2
9
.
9
0
% g
r
ea
te
r
p
o
wer
an
d
to
r
q
u
e
d
en
s
ity
[
7
2
]
.
Ho
wev
er
,
B
L
DC
m
o
to
r
s
r
em
ain
attr
ac
tiv
e
f
o
r
AGV
a
p
p
licatio
n
s
b
ec
au
s
e
o
f
th
eir
s
im
p
ler
c
o
n
tr
o
l
s
tr
u
ctu
r
e,
lo
wer
im
p
le
m
en
tatio
n
co
s
t,
a
n
d
ea
s
ier
in
teg
r
atio
n
in
to
co
m
p
ac
t a
n
d
lo
w
-
co
s
t r
o
b
o
tic
s
y
s
tem
s
.
T
r
an
s
m
is
s
io
n
d
esig
n
also
d
ir
ec
tly
af
f
ec
ts
AGV
en
er
g
y
ef
f
icien
cy
b
ec
au
s
e
g
ea
r
b
o
x
p
e
r
f
o
r
m
a
n
ce
v
ar
ies
with
o
p
er
atin
g
l
o
ad
an
d
r
o
tatio
n
al
s
p
ee
d
,
lead
in
g
t
o
m
ec
h
an
ical
lo
s
s
es
s
u
ch
as
f
r
ictio
n
,
g
ea
r
m
esh
in
g
lo
s
s
es,
an
d
b
ea
r
in
g
r
esis
tan
ce
[
7
3
]
,
[
7
4
]
.
I
n
p
ar
ticu
lar
,
g
ea
r
r
atio
s
elec
tio
n
s
ig
n
if
ican
tly
in
f
lu
en
ce
s
to
r
q
u
e
tr
an
s
m
is
s
io
n
an
d
m
o
to
r
o
p
er
atin
g
co
n
d
itio
n
s
[
7
0
]
,
[
7
5
]
,
[
7
6
]
.
f
u
r
th
er
d
em
o
n
s
tr
ated
t
h
a
t
s
elec
tin
g
a
h
ig
h
e
r
g
ea
r
r
atio
ca
n
s
h
if
t
th
e
m
o
to
r
o
p
er
atin
g
p
o
in
t
in
to
a
h
i
g
h
-
ef
f
icien
cy
r
e
g
io
n
,
wh
e
r
e
m
o
to
r
ef
f
icien
cy
m
a
y
ex
ce
ed
8
5
%.
E
f
f
o
r
ts
to
im
p
r
o
v
e
d
r
iv
et
r
ain
ef
f
icien
c
y
h
av
e
led
to
th
e
in
tr
o
d
u
ctio
n
o
f
h
u
b
-
in
te
g
r
ated
an
d
p
lan
etar
y
g
ea
r
co
n
f
ig
u
r
atio
n
s
,
as sh
o
wn
in
Fig
u
r
e
3
,
to
b
etter
ap
p
r
ec
iate
th
e
hub
-
p
lan
etar
y
m
o
to
r
.
Fig
u
r
e
3
.
C
r
o
s
s
-
s
ec
tio
n
al
d
iag
r
am
o
f
a
h
u
b
m
o
to
r
with
a
p
la
n
etar
y
g
ea
r
s
y
s
tem
Fig
u
r
e
3
s
h
o
ws
h
o
w
th
e
h
u
b
m
o
to
r
-
in
te
g
r
ated
d
r
i
v
es
s
im
p
lify
d
r
iv
etr
ain
ar
ch
itectu
r
e
b
y
e
lim
in
atin
g
in
ter
m
ed
iate
tr
an
s
m
is
s
io
n
co
m
p
o
n
e
n
ts
,
wh
ile
p
lan
etar
y
g
e
ar
m
ec
h
an
is
m
s
p
r
o
v
id
e
c
o
m
p
ac
tn
ess
,
h
ig
h
to
r
q
u
e
d
en
s
ity
,
an
d
h
i
g
h
tr
a
n
s
m
is
s
io
n
ef
f
icien
c
y
,
ty
p
ically
r
a
n
g
in
g
f
r
o
m
9
5
-
9
8
%,
co
m
p
ar
ed
with
ap
p
r
o
x
im
ately
8
5
-
9
5
%
f
o
r
co
n
v
en
tio
n
al
m
u
lti
-
s
tag
e
g
ea
r
b
o
x
s
y
s
tem
s
[
7
7
]
.
T
h
ese
a
d
v
an
ta
g
es
h
av
e
co
n
tr
ib
u
ted
to
th
e
wid
esp
r
ea
d
ad
o
p
tio
n
o
f
h
u
b
-
i
n
teg
r
ated
p
lan
etar
y
d
r
iv
etr
ain
s
in
AGV
ap
p
licatio
n
s
.
Fu
r
t
h
er
m
o
r
e,
r
ec
o
g
n
izin
g
th
at
g
ea
r
b
o
x
p
er
f
o
r
m
a
n
ce
v
ar
ies
with
lo
ad
an
d
s
p
ee
d
u
n
d
er
d
if
f
er
en
t
o
p
er
atin
g
c
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[
7
8
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7
9
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W
h
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2088
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8
6
9
4
To
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A
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2077
5
.
2
.
Co
ntr
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t
io
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f
wheel
d
esig
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W
h
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l
d
esig
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in
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lu
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s
AG
V
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y
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tr
ac
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as
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wh
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l
-
g
r
o
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n
d
c
o
n
tact
ch
a
r
ac
ter
is
tics
[
8
0
]
.
T
h
er
e
f
o
r
e,
o
p
tim
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o
f
m
ater
ial
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r
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p
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o
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r
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im
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f
o
r
m
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ce
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r
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o
p
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atio
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.
W
ith
r
eg
ar
d
to
wh
ee
l
m
ater
ial
co
n
s
id
er
atio
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s
[
1
9
]
,
d
em
o
n
s
tr
ated
th
at
wh
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l
d
ef
o
r
m
atio
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ater
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ch
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r
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cter
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ca
n
in
f
lu
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er
f
o
r
m
a
n
ce
a
n
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tr
ajec
to
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n
ad
d
itio
n
,
[
2
0
]
f
u
r
t
h
er
h
ig
h
lig
h
te
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th
e
in
f
lu
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ce
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ater
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atin
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B
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b
e
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p
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Fo
r
ex
am
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le,
[
8
1
]
im
p
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ted
ca
s
ter
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p
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t
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later
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ter
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ictio
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ic
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e
f
o
r
ce
r
eq
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ir
ed
f
o
r
wh
ee
l
alig
n
m
en
t.
Similar
ly
,
s
tu
d
ies
o
n
o
m
n
id
i
r
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tio
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al
wh
ee
l
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tem
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ar
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t,
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tr
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ctu
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n
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ig
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tem
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lev
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r
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to
en
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n
ce
o
v
er
all
AGV
m
o
tio
n
ef
f
icien
cy
[
8
2
]
,
[
8
3
]
.
T
h
ese
i
m
p
r
o
v
e
m
en
ts
co
n
tr
ib
u
te
to
lo
wer
en
er
g
y
c
o
n
s
u
m
p
ti
o
n
t
h
r
o
u
g
h
s
m
o
o
th
er
m
o
tio
n
,
r
ed
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ce
d
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lip
p
a
g
e,
m
in
im
ize
d
a
ctu
ato
r
o
v
e
r
lo
ad
,
an
d
e
n
h
an
ce
d
m
an
eu
v
er
ab
ilit
y
.
5
.
3
.
Cha
s
s
is
s
t
ruct
ure
a
nd
w
eig
ht
ef
f
ec
t
T
h
e
ch
ass
is
s
er
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es
as
th
e
p
r
im
ar
y
s
tr
u
ctu
r
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latf
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m
in
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atin
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all
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y
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tem
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o
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t
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ile
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all
m
ass
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ig
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ican
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in
f
l
u
en
ce
s
th
e
p
o
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d
em
an
d
o
f
th
e
AGV.
T
h
er
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o
r
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ch
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as
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o
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ld
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ized
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ce
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r
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en
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er
g
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u
m
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t
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m
p
r
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m
is
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g
s
tr
u
ctu
r
al
s
af
ety
an
d
lo
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-
ca
r
r
y
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g
ca
p
ac
ity
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I
n
th
is
co
n
tex
t,
a
s
tu
d
y
b
y
[
1
]
,
[
8
4
]
a
p
p
lied
a
s
y
s
tem
atic
en
g
in
ee
r
in
g
o
p
tim
izatio
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ap
p
r
o
ac
h
t
o
d
ev
elo
p
a
s
tr
u
ctu
r
e
ca
p
ab
le
o
f
s
u
p
p
o
r
tin
g
a
2
0
to
n
lo
a
d
ca
p
ac
ity
.
Similar
ly
,
[
8
5
]
co
n
d
u
cted
a
to
p
o
lo
g
y
o
p
tim
izatio
n
s
tu
d
y
th
at
n
o
t
o
n
ly
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ed
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ce
d
s
tr
u
ctu
r
al
m
ass
b
u
t
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e
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tifie
d
o
p
tim
a
l
wh
ee
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p
lace
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en
t
lo
ca
tio
n
s
b
ased
o
n
lo
ad
d
is
tr
ib
u
tio
n
r
eq
u
i
r
em
en
ts
.
I
n
a
n
o
th
er
s
tu
d
y
,
[
8
6
]
im
p
r
o
v
ed
th
e
s
t
r
u
ctu
r
al
s
tr
en
g
th
o
f
AGV
s
y
s
tem
s
wh
ile
s
im
u
ltan
eo
u
s
ly
r
ed
u
cin
g
s
tr
u
ctu
r
al
l
o
ad
to
e
n
ab
le
o
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atio
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u
n
d
er
h
ig
h
ly
r
o
b
u
s
t
an
d
ex
tr
em
e
v
ib
r
atio
n
c
o
n
d
itio
n
s
.
C
o
llectiv
ely
,
th
ese
s
tu
d
ies
ac
h
iev
ed
lo
ad
r
ed
u
ctio
n
s
o
f
ap
p
r
o
x
im
ately
1
0
-
2
0
%,
wh
ich
ca
n
d
ir
ec
tly
co
n
tr
i
b
u
te
t
o
lo
wer
en
e
r
g
y
d
em
an
d
an
d
im
p
r
o
v
e
d
o
v
er
all
AGV
ef
f
icie
n
cy
.
5
.
4
.
M
ec
ha
nica
l g
uid
a
nce
s
y
s
t
em
f
o
r
t
ra
j
ec
t
o
ry
c
o
ntr
o
l
Alth
o
u
g
h
AGV
n
av
ig
atio
n
is
p
r
im
ar
ily
ac
h
iev
ed
th
r
o
u
g
h
s
en
s
o
r
-
b
ased
s
y
s
tem
s
an
d
in
tellig
en
t
p
r
o
g
r
a
m
m
in
g
f
o
r
p
r
e
d
ef
in
ed
p
ath
f
o
llo
win
g
[
8
7
]
,
[
8
8
]
p
r
o
p
o
s
ed
alter
n
ativ
e
m
ec
h
an
ical
g
u
i
d
an
ce
ap
p
r
o
ac
h
es.
W
h
ile
th
ese
m
eth
o
d
s
m
ay
n
o
t
b
e
s
u
itab
le
f
o
r
all
o
p
er
atin
g
c
o
n
d
itio
n
s
,
th
ey
r
ed
u
ce
d
ep
en
d
en
ce
o
n
co
n
tin
u
o
u
s
s
en
s
in
g
,
d
ata
p
r
o
ce
s
s
in
g
,
an
d
co
m
p
u
tatio
n
al
co
n
tr
o
l
r
eq
u
ir
em
en
ts
,
an
d
th
er
ef
o
r
e
s
h
o
u
ld
b
e
co
n
s
id
er
ed
as
p
r
ac
tical
alter
n
ativ
es f
o
r
s
elec
t
ed
AGV
ap
p
licatio
n
s
.
I
n
a
r
elate
d
s
tu
d
y
,
[
8
9
]
p
r
o
p
o
s
ed
in
s
tr
u
m
en
te
d
p
ass
iv
e
wh
ee
ls
f
o
r
lo
ca
lizatio
n
p
u
r
p
o
s
es
.
T
h
e
p
ass
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e
ca
s
to
r
wh
ee
ls
ex
h
ib
it
lo
w
-
s
li
p
an
d
s
tab
le
m
o
tio
n
ch
a
r
ac
te
r
is
tics
,
wh
ile
r
ed
u
cin
g
r
elian
ce
o
n
co
n
tin
u
o
u
s
ly
p
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wer
ed
s
en
s
in
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s
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s
tem
s
an
d
lo
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y
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n
s
u
m
p
tio
n
.
T
h
ese
s
tu
d
ies
s
u
g
g
est
th
at
m
ec
h
an
ical
d
esig
n
ca
n
r
ed
u
ce
r
elian
ce
o
n
s
en
s
in
g
an
d
n
av
ig
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n
s
y
s
tem
s
,
th
er
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y
lo
wer
i
n
g
co
m
p
u
tatio
n
al
an
d
s
en
s
o
r
en
e
r
g
y
co
n
s
u
m
p
tio
n
.
Alth
o
u
g
h
s
u
ch
im
p
lem
en
tatio
n
s
m
ay
b
e
lim
ited
to
s
p
ec
if
ic
o
p
er
atin
g
co
n
d
itio
n
s
,
th
ey
ca
n
b
e
co
n
s
id
er
ed
as h
y
b
r
id
o
p
er
atio
n
al
co
n
ce
p
ts
,
s
im
ilar
to
tr
am
-
t
r
ain
s
y
s
tem
s
u
s
ed
in
s
ev
er
al
ci
ties
wo
r
ld
wid
e.
5
.
5
.
Dy
na
m
ic
co
un
t
er
ba
la
nc
e
Veh
icle
s
tab
ilit
y
ca
n
also
b
e
en
h
an
ce
d
th
r
o
u
g
h
m
ec
h
an
ic
al
d
esig
n
ap
p
r
o
ac
h
es
[
9
0
]
.
Hig
h
lig
h
ted
s
tr
u
ctu
r
al
p
ar
am
eter
s
af
f
ec
tin
g
ce
n
ter
-
of
-
g
r
av
ity
v
a
r
iatio
n
i
n
AGV
f
o
r
k
lifts,
d
em
o
n
s
tr
atin
g
th
e
p
o
ten
tial
o
f
m
ec
h
an
ical
d
esig
n
to
im
p
r
o
v
e
s
tab
ilit
y
u
n
d
er
v
ar
y
i
n
g
lo
a
d
co
n
d
itio
n
s
.
I
n
a
r
elate
d
s
tu
d
y
,
[
9
1
]
r
e
v
iewe
d
m
ec
h
an
ical
ap
p
r
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T
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I
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8
6
9
4
To
w
a
r
d
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erg
y
-
efficien
t A
GV
s
:
A
r
ev
iew
o
f m
ec
h
a
n
ica
l d
esi
g
n
co
n
tr
ib
u
tio
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a
n
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…
(
A
miz
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)
2079
T
ab
le
2
ca
teg
o
r
izes
co
m
m
o
n
en
er
g
y
im
p
r
o
v
em
en
t
a
r
ea
s
an
d
b
r
ea
k
d
o
wn
in
to
c
o
r
r
esp
o
n
d
i
n
g
p
r
im
ar
y
s
o
u
r
ce
s
o
f
p
r
o
b
lem
s
an
d
th
eir
ass
o
ciate
d
is
s
u
es.
T
h
e
f
in
al
two
co
lu
m
n
s
co
m
p
ar
e
c
o
n
v
e
n
tio
n
al
co
n
tr
o
l
-
b
ased
s
o
lu
tio
n
s
with
alter
n
ativ
e
m
ec
h
an
ical
ap
p
r
o
ac
h
es
th
at
m
ay
r
ed
u
ce
r
elian
ce
o
n
co
m
p
lex
co
n
tr
o
ller
s
,
m
in
im
ize
b
atter
y
s
tr
ess
,
im
p
r
o
v
e
m
o
tio
n
s
tab
ilit
y
,
an
d
e
n
h
an
ce
o
v
e
r
all
AGV
en
er
g
y
ef
f
icien
c
y
.
Me
c
h
an
ical
ap
p
r
o
ac
h
es
h
av
e
d
em
o
n
s
tr
ated
co
n
s
id
er
a
b
le
p
o
ten
tial
in
im
p
r
o
v
in
g
AG
V
o
p
er
atio
n
th
r
o
u
g
h
v
ar
io
u
s
d
esig
n
alter
n
ativ
es.
Ho
wev
er
,
th
eir
co
n
tr
ib
u
tio
n
to
war
d
s
im
p
lify
in
g
co
m
p
u
tatio
n
al
d
em
an
d
an
d
r
ed
u
cin
g
d
ep
e
n
d
en
ce
o
n
ad
v
an
ce
d
en
er
g
y
s
o
u
r
cin
g
tec
h
n
o
lo
g
ies
r
em
ain
s
co
m
p
ar
ativ
ely
lim
ited
.
On
e
s
u
g
g
ested
s
o
l
u
tio
n
is
to
c
o
m
b
in
e
s
en
s
o
r
p
o
s
itio
n
s
at
th
e
b
est
m
ec
h
an
ical
p
o
s
itio
n
,
s
o
as
to
p
r
o
v
id
e
m
o
r
e
ac
cu
r
ate
r
ea
d
in
g
f
o
r
less
ca
lib
r
atio
n
s
.
I
n
en
e
r
g
y
s
to
r
ag
e,
s
o
u
r
cin
g
,
an
d
r
ec
o
v
er
y
tech
n
o
lo
g
ies,
alth
o
u
g
h
r
esear
ch
in
v
o
lv
es
ex
t
en
s
iv
e
r
esear
ch
a
n
d
d
ev
elo
p
m
e
n
t,
m
ec
h
an
ically
o
r
ien
ted
s
o
lu
tio
n
s
s
h
o
u
ld
al
s
o
b
e
ex
ten
d
ed
f
o
r
p
r
ac
tical
an
d
co
s
t
-
ef
f
ec
tiv
e
in
n
o
v
atio
n
.
As
o
b
s
er
v
e
d
in
th
e
m
ec
h
an
ical
m
itig
atio
n
s
u
g
g
esti
o
n
,
in
tr
o
d
u
cin
g
m
ec
h
an
ica
l
in
ter
v
en
tio
n
h
elp
s
id
en
tify
an
ac
c
u
r
ate
ch
ar
g
in
g
p
o
in
t.
T
h
is
s
im
p
lifie
s
co
m
p
u
tatio
n
f
o
r
f
in
d
in
g
th
e
r
i
g
h
t
ch
ar
g
in
g
p
o
in
t
a
n
d
ch
ar
g
in
g
in
f
r
astru
ctu
r
e.
6.
M
E
CH
A
NICA
L
P
ARA
M
E
T
E
R
O
P
T
I
M
I
Z
AT
I
O
N
Var
io
u
s
m
ec
h
an
ical
asp
ec
ts
wer
e
p
r
esen
ted
in
s
ec
tio
n
5
,
h
i
g
h
lig
h
tin
g
th
eir
p
o
ten
tial
co
n
tr
i
b
u
tio
n
s
to
AGV
en
er
g
y
ef
f
icien
cy
.
B
esi
d
es
h
ig
h
lig
h
tin
g
th
at
m
ec
h
an
i
ca
l
f
ac
to
r
s
ca
n
r
ed
u
ce
en
e
r
g
y
co
n
s
u
m
p
tio
n
,
t
h
e
s
im
u
ltan
eo
u
s
in
ter
ac
tio
n
am
o
n
g
th
ese
p
ar
am
eter
s
m
u
s
t
also
b
e
co
n
s
id
er
ed
in
t
h
e
o
v
er
all
e
n
er
g
y
p
er
f
o
r
m
an
ce
.
T
h
u
s
,
a
s
y
s
tem
atic
o
p
tim
izatio
n
ap
p
r
o
ac
h
is
r
eq
u
ir
ed
to
d
eter
m
in
e
th
e
m
o
s
t
ef
f
ec
tiv
e
p
ar
am
eter
co
m
b
in
atio
n
s
f
o
r
s
u
s
tain
ab
le
AGV
o
p
er
atio
n
.
6
.
1
.
M
ec
ha
nica
l e
nerg
y
o
pti
m
iza
t
io
n f
r
a
m
ewo
r
k
Sev
er
al
o
p
tim
izatio
n
m
eth
o
d
s
,
in
clu
d
in
g
f
u
ll
f
ac
to
r
ial
d
esig
n
an
d
r
esp
o
n
s
e
s
u
r
f
ac
e
m
et
h
o
d
o
lo
g
y
,
h
av
e
b
ee
n
wid
ely
a
p
p
lied
in
en
g
in
ee
r
in
g
o
p
tim
izatio
n
.
H
o
wev
er
,
th
ese
ap
p
r
o
ac
h
es
m
ay
r
eq
u
ir
e
ex
ten
s
iv
e
ex
p
er
im
en
tatio
n
an
d
h
ig
h
c
o
m
p
u
tatio
n
al
ef
f
o
r
t w
h
en
i
n
v
o
lv
i
n
g
m
u
ltip
le
d
esig
n
p
ar
am
eter
s
.
T
h
er
ef
o
r
e,
a
m
o
r
e
ef
f
icien
t a
n
d
s
y
s
tem
atic
o
p
tim
izatio
n
m
eth
o
d
is
n
ee
d
ed
f
o
r
AGV
m
ec
h
an
ical
p
ar
am
eter
a
n
aly
s
is
.
T
h
e
T
ag
u
ch
i
m
et
h
o
d
is
co
n
s
id
er
ed
s
u
itab
le
f
o
r
th
is
o
p
ti
m
izatio
n
p
u
r
p
o
s
e.
I
t
is
a
r
o
b
u
s
t
d
esig
n
tech
n
iq
u
e
th
at
em
p
lo
y
s
o
r
th
o
g
o
n
al
ar
r
ay
s
an
d
s
ig
n
al
-
to
-
n
o
is
e
(
S/N)
r
atio
an
aly
s
is
to
ef
f
icien
tly
ev
alu
ate
m
u
ltip
le
p
ar
am
eter
s
an
d
i
d
en
tify
o
p
tim
al
an
d
s
tab
le
co
n
f
i
g
u
r
atio
n
s
.
C
o
m
p
a
r
ed
with
f
u
l
l
f
ac
to
r
ial
d
esig
n
s
,
wh
ich
r
eq
u
ir
e
a
lar
g
e
n
u
m
b
er
o
f
ex
p
er
im
e
n
tal
r
u
n
s
,
th
e
T
a
g
u
ch
i
m
eth
o
d
s
ig
n
if
ican
tly
r
e
d
u
ce
s
ex
p
er
im
e
n
tal
ef
f
o
r
t
wh
ile
m
ain
tain
in
g
ef
f
ec
tiv
e
p
ar
am
eter
ev
alu
atio
n
.
I
n
ad
d
itio
n
,
co
m
p
ar
e
d
with
s
im
u
latio
n
-
b
ased
ap
p
r
o
ac
h
es,
it
o
f
f
er
s
p
r
ac
tical
ad
v
an
tag
es
s
u
c
h
as
l
o
wer
c
o
s
t,
s
h
o
r
ter
im
p
lem
e
n
tatio
n
tim
e,
an
d
s
u
itab
ilit
y
f
o
r
ea
r
ly
-
s
tag
e
d
esig
n
o
p
tim
izatio
n
[
9
4
]
-
[9
6
]
.
Ma
n
y
s
tu
d
ies
h
av
e
ad
o
p
ted
th
e
T
a
g
u
ch
i
m
eth
o
d
ac
r
o
s
s
v
ar
io
u
s
en
g
in
ee
r
in
g
an
d
o
p
tim
izatio
n
ap
p
licatio
n
s
,
in
clu
d
in
g
en
er
g
y
-
r
elate
d
c
o
n
tex
ts
[9
7
]
-
[
99
]
.
I
n
ad
d
itio
n
,
to
th
e
b
est
o
f
t
h
e
a
u
th
o
r
s
’
k
n
o
wled
g
e,
n
o
s
tu
d
y
h
as
s
p
ec
if
ically
a
p
p
lied
th
e
T
ag
u
ch
i
m
eth
o
d
to
m
ec
h
an
ical
en
er
g
y
o
p
tim
izatio
n
in
AGV
s
y
s
tem
s
6
.
2
.
T
a
g
uchi o
ptim
iz
a
t
io
n f
r
a
m
ewo
r
k
T
h
e
T
ag
u
ch
i
m
eth
o
d
is
im
p
le
m
en
ted
th
r
o
u
g
h
s
ev
er
al
s
y
s
te
m
atic
s
tep
s
,
in
clu
d
in
g
p
r
o
b
lem
d
ef
i
n
itio
n
,
s
elec
tio
n
o
f
co
n
tr
o
l
an
d
n
o
i
s
e
f
ac
to
r
s
,
d
eter
m
in
atio
n
o
f
s
u
itab
le
o
r
th
o
g
o
n
al
ar
r
ay
s
,
ex
p
er
im
en
tal
d
ata
co
llectio
n
,
co
m
p
u
tatio
n
o
f
r
o
b
u
s
tn
ess
u
s
in
g
s
ig
n
al
-
to
-
n
o
is
e
(
S/N)
r
atio
an
aly
s
is
,
an
d
ev
alu
atio
n
o
f
th
e
r
esu
lts
to
id
en
tify
th
e
o
p
tim
al
p
ar
a
m
eter
s
ettin
g
s
.
Fin
ally
,
v
alid
atio
n
is
co
n
d
u
cted
to
v
er
if
y
th
e
r
o
b
u
s
tn
ess
an
d
ef
f
ec
tiv
en
ess
o
f
th
e
o
p
tim
ized
p
ar
am
eter
s
.
T
o
illu
s
tr
ate
th
e
p
r
o
p
o
s
ed
im
p
lem
en
tatio
n
m
o
r
e
clea
r
ly
,
s
elec
ted
m
ec
h
an
ical
f
ac
to
r
s
f
r
o
m
Secti
o
n
5
a
r
e
o
r
g
an
ized
in
t
o
a
P
-
d
i
ag
r
am
,
wh
er
e
r
elev
an
t p
ar
am
e
ter
s
ar
e
g
r
o
u
p
ed
f
o
r
th
e
o
p
tim
izatio
n
p
r
o
ce
s
s
,
as sh
o
wn
in
Fig
u
r
e
4
.
Fig
u
r
e
4
illu
s
tr
ates th
e
p
r
o
p
o
s
ed
P
-
d
iag
r
am
f
o
r
th
e
AGV
m
e
ch
an
ical
en
er
g
y
o
p
tim
izatio
n
f
r
am
ewo
r
k
b
ased
o
n
th
e
T
ag
u
c
h
i
m
eth
o
d
.
T
h
e
f
r
am
ewo
r
k
o
r
g
a
n
izes
th
e
o
p
tim
izatio
n
p
r
o
ce
s
s
in
to
in
p
u
t,
co
n
tr
o
l,
n
o
is
e,
an
d
o
u
tp
u
t
f
ac
to
r
s
.
T
h
e
in
p
u
t
f
ac
to
r
r
ep
r
esen
ts
o
p
er
atin
g
co
n
d
itio
n
s
s
u
ch
as
s
p
ee
d
v
ar
iatio
n
,
wh
ile
th
e
co
n
tr
o
l
f
ac
to
r
s
in
clu
d
e
a
d
ju
s
tab
le
m
ec
h
an
ical
p
ar
am
eter
s
s
u
ch
as
g
e
ar
co
n
f
i
g
u
r
atio
n
,
wh
ee
l
ch
a
r
ac
ter
is
tics
,
d
r
iv
etr
ain
ar
r
an
g
em
e
n
t,
an
d
c
h
ass
is
p
r
o
p
er
ties
.
Me
an
wh
ile,
n
o
is
e
f
ac
to
r
s
r
e
p
r
esen
t
u
n
co
n
t
r
o
llab
le
o
p
er
atio
n
al
v
ar
iatio
n
s
,
in
clu
d
in
g
p
ay
lo
a
d
,
p
ath
,
a
n
d
f
lo
o
r
co
n
d
itio
n
s
,
wh
ich
m
ay
in
f
lu
en
ce
AGV
e
n
er
g
y
p
er
f
o
r
m
a
n
ce
.
T
h
e
o
u
tp
u
t f
ac
to
r
co
r
r
esp
o
n
d
s
to
en
er
g
y
-
r
elate
d
r
esp
o
n
s
es su
ch
as e
n
er
g
y
co
n
s
u
m
p
tio
n
a
n
d
p
o
wer
lo
s
s
es.
I
n
th
is
co
n
tex
t,
th
e
T
ag
u
ch
i
Me
th
o
d
f
r
am
ewo
r
k
en
a
b
les
ef
f
icien
t
ev
alu
atio
n
o
f
m
u
ltip
le
p
ar
am
eter
s
an
d
lev
els
t
h
r
o
u
g
h
a
s
tr
u
ct
u
r
e
d
ex
p
er
im
en
tal
a
p
p
r
o
ac
h
.
B
y
e
m
p
lo
y
in
g
s
ig
n
al
-
to
-
n
o
is
e
(
S/N)
r
atio
an
aly
s
is
,
th
e
f
r
am
ewo
r
k
s
u
p
p
o
r
ts
r
o
b
u
s
tn
ess
ev
alu
atio
n
a
n
d
s
y
s
tem
atic
d
ec
is
io
n
-
m
ak
in
g
wh
ile
p
r
o
v
id
in
g
a
lo
w
-
co
s
t
a
n
d
s
ca
lab
le
ap
p
r
o
ac
h
f
o
r
im
p
r
o
v
in
g
AGV
e
n
er
g
y
ef
f
icien
c
y
an
d
m
ec
h
an
ical
r
eliab
ilit
y
.
I
n
ad
d
itio
n
,
t
h
e
f
r
am
ewo
r
k
is
well
s
u
ited
f
o
r
i
n
d
u
s
tr
ial
p
ar
ticip
atio
n
in
t
h
e
e
n
er
g
y
o
p
tim
izatio
n
p
r
o
ce
s
s
d
u
e
to
its
s
y
s
tem
atic
p
r
o
ce
d
u
r
es,
s
tr
aig
h
tf
o
r
war
d
i
m
p
lem
en
tatio
n
,
a
n
d
p
r
ac
tical
v
alid
atio
n
m
eth
o
d
s
.
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