Abstract
The Robot@Factory competition was recently included in Robotica, the main Portuguese Robotics Competition. This robot competition takes place in an emulated factory plant, where automatic guided vehicles (AGVs) must cooperate to perform tasks. To accomplish their goals, the AGVs must deal with localization, navigation, scheduling, and cooperation problems that must be solved autonomously. This robot competition can play an important role in education due to its inherent multidisciplinary approach, which can motivate students to bridge different technological areas. It can also play an important role in research and development, because it is expected that its outcomes will later be transferred to real-world problems in manufacturing or service robots. By presenting a scaled-down factory shop floor, this competition creates a benchmark that can be used to compare different approaches to the challenges that arise in this kind of environment. The ability to alter the environment, in some restricted areas, can usually promote the test and evaluation of different localization mechanisms, which is not possible in other competitions. This paper presents one of the possible approaches to build a robot capable of entering this competition. It can be used as a reference to current and new teams.
Highlights
N OWADAYS, the industry faces the need to have plants more and more flexible
The search for increased efficiency in a plant is a common activity and so Automated Guided Vehicles (AGVs) and their deployment become a reason for an intense scientific research and pedagogical attention
The Robot@Factory competition was designed as a test platform that can be used to solve problems similar to those present in future real plants
Summary
N OWADAYS, the industry faces the need to have plants more and more flexible. For some tasks, like raw material transportation from one place of work to another, Automated Guided Vehicles (AGVs) can be used in order to allow flexible layouts. The search for increased efficiency in a plant is a common activity and so AGVs and their deployment become a reason for an intense scientific research and pedagogical attention This topic includes fields such as: control, localization and navigation. It was used the common approach of fusing information from relative localization systems such as odometer and inertial sensors, and from an absolute localization system In this case, a low-cost laser range finder. To cope with a dynamic industrial environment, where obstacle presence can be very unpredictable, a real-time path planer was implemented [9]–[14] The paper follows this structure: initially, the SimTwo simulator is presented, the developed robot prototype is described, its localization system and trajectory planning are explained, and some results are presented and discussed
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