US 12,280,781 B2
Systems and methods for controlling autonomous mobile robots in a manufacturing environment
Yifan Chen, Ann Arbor, MI (US); Gregory P. Linkowski, Dearborn, MI (US); Meghna Menon, Rochester Hills, MI (US); Sarah Garrow, Detroit, MI (US); and Geoffrey Horowitz, Birmingham, MI (US)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by Ford Global Technologies, LLC, Dearborn, MI (US)
Filed on Dec. 22, 2021, as Appl. No. 17/559,451.
Prior Publication US 2023/0195123 A1, Jun. 22, 2023
Int. Cl. B60W 30/18 (2012.01)
CPC B60W 30/18154 (2013.01) [B60W 2555/60 (2020.02); B60W 2556/45 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method for controlling a plurality of autonomous mobile robots (AMRs) in a manufacturing environment having an intersection, the method comprising:
obtaining a plurality of routes associated with the plurality of AMRs, velocity information associated with the plurality of AMRs, and priority information associated with the plurality of AMRs;
determining a plurality of arrival times associated with the plurality of AMRs at a location proximate a stop region of the intersection before the plurality of AMRs arrive at the intersection, wherein the determination of the plurality of arrival times is based on the velocity information, the plurality of routes, and a communication delay between the plurality of AMRs and an intersection management system;
generating a plurality of intersection reservations based on the determination of the plurality of arrival times and the priority information, wherein each intersection reservation from among the plurality of intersection reservations corresponds to an AMR from among the plurality of AMRs; and
controlling a movement of the plurality of AMRs through the intersection based on the plurality of intersection reservations.