Abstract

This paper presents a platform-agnostic distributed navigation architecture for autonomous mobile robots operating in intra-factory logistics. Communication, control, navigation, diagnosis and hardware are layered in a hierarchical approach increasing robustness, modularity and flexibility. This architecture promotes several key features, such as dynamic selection of navigation profiles, semantic mapping and human-aware navigation. The approach allowed multiple autonomous mobile robots, cooperating through a fleet management system, to adapt to a wide range of situations, alternating their path planning between high-speed free-space strategies, and high precision low-speed for tight passageways and docking to assembly stations. The benefits of the proposed architecture were validated through a set of experiments in a mockup shopfloor environment. During these tests 3 robots operated continuously for several hours, self-charging without any human intervention.

Original languageEnglish
Title of host publicationProceedings - 2021 IEEE 19th International Conference on Industrial Informatics, INDIN 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728143958
DOIs
Publication statusPublished - 2021
Event19th IEEE International Conference on Industrial Informatics, INDIN 2021 - Mallorca, Spain
Duration: 21 Jul 202123 Jul 2021

Publication series

NameIEEE International Conference on Industrial Informatics (INDIN)
PublisherInstitute of Electrical and Electronics Engineers Inc.
Volume2021-July
ISSN (Print)1935-4576

Conference

Conference19th IEEE International Conference on Industrial Informatics, INDIN 2021
Country/TerritorySpain
CityMallorca
Period21/07/2123/07/21

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