Abstract

This paper presents an industrial AIV (Autonomous Intelligent Vehicles[1]), that can be used as a mobile robot to reduce labor costs and occupational injuries in a smart factory of the future. Furthermore, the AIV can also be a part of the Internet of things in Industry 4.0 framework. The AIV body part uses a hub motor embedded in Mecanum wheel as a main moving unit, which integrates with the lifting platform to improve the convenience and mobility of the factory. The control system uses Arduino to control the hardware, and ROS (Robot Operating System) was used as the core of AIV navigation system. By integrating two LiDARs, IMU and encoders, the algorithm can timely calculate the position of the AIV and plan the route. The AIV also equipped with Bluetooth 4.0 (which can connect to our Bluetooth IoT system), Wi-Fi and RF as an external communication.

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