Abstract
This paper presents a human-aware navigation system for mobile robots targeted to cooperative assembly in intra-factory logistics scenarios. To improve overall efficiency of the operator-robot ensemble, assembly stations and operators are modelled as cost functions in a layered cost map supporting the robot navigation system. At each new sensory update, the system uses each operator’s estimated location to affect the cost map accordingly. To promote predictability and comfort in the human operator, the cost map is affected according to the Proxemics theory, properly adapted to take into account the layout activity space of the station in which the operator is working. Knowledge regarding which task and station are being handled by the operator are assumed to be given to the robot by the factory’s computational infrastructure. To foster integration in existing robots, the system is implemented on top of the navigation system of the Robot Operating System (ROS).
Highlights
Nowadays, robotics is ubiquitous on almost all industries
This paper presents a human-aware navigation system for mobile robots targeted to cooperative assembly in intra-factory logistics scenarios
This paper proposes that operators found by the robot while traversing the environment should induce the overlay of a cost function on the layered cost map according to the proxemics theory, ensuring that the mobile robot does not violate the operators’ personal space
Summary
Robotics is ubiquitous on almost all industries. given the ever increasing need for diversification and customization of products and services, a new wave of flexible and more collaborative robots are being introduced into the shop floor. Manufacturing processes are often designed to be safe but as efficient as possible, leaving human comfort as a secondary goal This is aggravated by the non-optimal behaviour often observed in humans when complying with social conventions [4]. Shelves in warehouses and assembly stations need to be always accessible to operators and, there is an operational cost associated to having robots traversing that space that should be translated into the mobile robot’s navigation cost map. The extent of the station’s influence in the cost map is expanded, according to a conservative application of the proxemics theory, when an operator is known to be present therein This way the mobile robot tends to avoid more strongly the station if the latter is assigned to an operator. Layout, task, and operator assignments of stations are assumed to be available to the robot via the factory’s manufacturing enterprise systems (MES)
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
