TY - GEN
T1 - An Autonomous Mobile Robot Navigation Architecture for Dynamic Intralogistics
AU - Taranta, David
AU - Marques, Francisco
AU - Lourenço, André
AU - Prates, Pedro Alexandre
AU - Souto, Alexandre
AU - Pinto, Eduardo
AU - Barata, José
N1 - Funding Information:
ACKNOWLEDGMENT This work was co-funded by INCM ATLAS project and by the CTS multi-annual funding, through the PIDDAC Program funds.
Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85125561634&partnerID=8YFLogxK
U2 - 10.1109/INDIN45523.2021.9557419
DO - 10.1109/INDIN45523.2021.9557419
M3 - Conference contribution
AN - SCOPUS:85125561634
T3 - IEEE International Conference on Industrial Informatics (INDIN)
BT - Proceedings - 2021 IEEE 19th International Conference on Industrial Informatics, INDIN 2021
PB - Institute of Electrical and Electronics Engineers (IEEE)
T2 - 19th IEEE International Conference on Industrial Informatics, INDIN 2021
Y2 - 21 July 2021 through 23 July 2021
ER -