FURBOT : un nouveau système de transport de marchandises en ville. Evangeline Pollard INRIA-RITS

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1 FURBOT : un nouveau système de transport de marchandises en ville Evangeline Pollard INRIA-RITS

2 IMARA Informatique, Mathématiques, Automatique, pour la Route Automatisée became RITS Robotics & Intelligent Transportation Systems Praxitèle Imara Rits

3 La livraison de marchandises en ville Mobilité Manque de places Générateur d embouteillages 3/15

4 Chartes de livraison La tendance Favoriser les véhicules non polluant Limiter les temps de livraison/ les tranches horaires Limiter la surface au sol des véhicules Créer des aires de livraison mixte 4

5 Vers une livraison à la demande Système bpost en Belgique Système LPExpress en Lituanie 5

6 The Furbot project Funding agency: EU Start: 1 st November 2011 End: 30 th October 2014 Partners: DIMEC (It), INRIA (Fr), Bremach (It), ZTS (Sl), UNIPI (It), Mazel (Sp), TCB (Po) Total budget: 3.2 M EU Grant: 2.2 M Inria s grant: 393 k

7 Project overview Boxes are locked and left in the street (on bay area) on a European pallet. Customers have 24 hours to claim their merchandise. Loading steps: Box identification through RFID receptors Automatic positioning of the Furbot by regarding the box Translation of the forklift to load the 1st or the 2nd box Chassis descent Exiting the forklift Loading the box Entering the forklift Chassis pull up 7/15

8 Some ambitious objectives Objective measure vehicle footprint width: 1700 mm x length 2000 mm (+- 20%) vehicle weight maximum payload less than 1100 kg 850 kg negotiable slope 30 % vehicle agility vehicle maximum speed 40 km/h power class energy efficiency noise emission air pollution safety loading/unloading time turning radius 0 m 15 kw more than 45% less in terms of primary energy less than 45 dba zero emission improved more than 65% both for people inside and outside the vehicle shorter than 25s per unit loaded/unloaded

9 3 Main research topics 1 Mechatronics 3G UDC Internet 3G 2 Robotics p R S U p 3 Furbot fleet management p p 99

10 The actual Prototype

11 Active suspensions (roll)

12 Active suspensions (pitch)

13 Automatic loading/unloading system

14 Driving cabin

15 Battery unit The battery box includes all the cells and the monitoring and balancing (BMS) system configured

16 Furbot boxes Mul$- box Solid box Isolated box 16/15

17 Robotic issues - Ensure the well positioning of the Furbot by regarding the box position and orientation (tolerance of 5 cm for the lateral and longitudinal error) - Monitor the good loading stage - Provide vehicle control system and drive by wire functions - Guaranty safety during maneuvers Communication antenna gps camera Lasers - 17

18 Supervision (service trip planning) Communication Input Knowledge base Proprioceptive Maps Velocity Steering GPS signal Environment perception Obstacle detection Lane detection Localization imission iobstacles ilanes iegovehicle HMI Situation Planning Local Global Control Trajectory Sensors Vision Box perception Situation assessment Steering Velocity Lateral Longitudinal Driver Laser RFID Box estimation ibox idrivingmode isteering ivelocity Augmented reality Web server Loading order Steering Velocity Veh. output (low level control) 18/15

19 Automated mode - 19

20 Loading a box in a urban distribution centre (UDC) Going over the UDC Box identification through RFID receptors Box detection with laser Visualization with camera Loading activation Automatic positioning of the Furbot by regarding the box - 20

21 Loading a box in bay areas Contrarely to UDC -> not controlled environment In case of obstruction, complex path planning (fuzzy controllers) - 21

22 Unloading a box Driver in charge of choosing the unloading location Projection of the future location of the box onto the images of the Furbot external camera Ensuring that there is enough space to unload the box Bounding boxes surround the potential obstacles Unload vehicle - 22

23 Assisted mode - 23

24 Lane detection, obstacle detection with laser and emergency braking - 24

25 Adaptive Cruise Control Front obstacle detection using the ego-vehicle dynamics and lane information Visual information sent to the driver - 25

26 Interaction with the driver - 26

27 Human to Machine Interface Interface (HMI): Control Choice between several driving modes Fully manual Highly assisted driving: automatic obstacle avoidance, lane keeping warning, adaptive speed control Platooning: input and output Loading/unloading: box pick-up, moving and placing or box unloading and moving to the dedicated area Virtual joystick to control the vehicle from outside - 27

28 Human to Machine Interface Interface (HMI): Inform Provide general information to the driver on: The road environment, the real-time traffic, the map The itinerary and the mission The fleet vehicle state, platooning options - 28

29 Human to Machine Interface Interface (HMI): Warn Warne/Inform: safety warning, power caution, vehicle inner diagnose pre-caution Vehicle and obstacle state: position state, velocity, collision avoidance Battery state (low battery signal, battery recharging signal,...) Box state: information on the box, loaded/unloaded, in loading/ unloading Unload vehicle - 29

30 Fleet management - 30

31 The reference logistic chain factory consolida$on/deconsolida$on site (UDC) commercial ac$vity Residence/consump$on zone Furbot trip Distance walked by receivers FURBOT unloading bay FURBOT vehicle Long distance trucks URBAN AREA Vehicle and Box CONSOLIDATION Vehicle ROUTING Cepolina, E. M., & Farina, A. (2012). A new shared vehicle system for urban areas. Transportation Research Part C: Emerging Technologies

32 Field test Field test with the collabora$on of the municipality of Barreiro (Portugal) will be performed 32

33 Conclusion Design of a new multi-sensorial system to perform all the automation and assistance tasks, and guaranty the maximum possible le safety level. Minimalist conception, with a maximum costeffectiveness. Interaction with the driver One European initiative => Many other European projects (Bestfact) More experiment results on: team.inria.fr/imara/ Thank you for your attention!

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