An accurate and efficient navigation system for omnidirectional robots in industrial environments

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• 作者：Christoph Sprunk ; Boris Lau ; Patrick Pfaff ; Wolfram Burgard
• 刊名：Autonomous Robots
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：41
• 期：2
• 页码：473-493
• 全文大小：
• 刊物类别：Computer Science
• 刊物主题：Robotics and Automation; Artificial Intelligence (incl. Robotics); Computer Imaging, Vision, Pattern Recognition and Graphics; Control, Robotics, Mechatronics;
• 出版者：Springer US
• ISSN：1573-7527
• 卷排序：41

文摘

Enhanced logistics is widely regarded as a key technology to increase flexibility and cost efficiency of today’s factories. For example, fully autonomous transport vehicles aim to gradually replace conveyor belts, guided vehicles, and manual labor. In this context, especially omnidirectional robots are appealing thanks to their advanced maneuvering capabilities. In industrial applications, however, accuracy as well as safety and efficiency are key requirements for successful navigation systems. In this paper, we present an accurate navigation system for omnidirectional robots. Our system includes dedicated modules for mapping, localization, trajectory generation and robot control. It has been designed for accurate execution by devising smooth, curvature continuous trajectories, by planning appropriate velocities and by accounting for platform and safety constraints. In this way, it completely utilizes the maneuvering capabilities of omnidirectional robots and optimizes trajectories with respect to time of travel. We present extensive experimental evaluations in simulation and in changing real-world environments to demonstrate the robustness and accuracy of our system.