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Autonomous Robots
Erschienen in: Autonomous Robots 2/2017

02.03.2016

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

verfasst von: Christoph Sprunk, Boris Lau, Patrick Pfaff, Wolfram Burgard

Erschienen in: Autonomous Robots | Ausgabe 2/2017

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Abstract

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.
Vorheriger Artikel Dynamically feasible, energy efficient motion planning for skid-steered vehicles
Nächster Artikel RBDL: an efficient rigid-body dynamics library using recursive algorithms

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Fußnoten
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Carmen robot navigation toolkit. http://​carmen.​sourceforge.​net, 2014. Online, accessed 2014-11- 26.
 
2
Frog AGV Systems. http://​frog.​nl, 2014. Online, accessed 2014-11-26.
 
3
Swisslog. http://​swisslog.​com, 2014. Online, accessed 2014-11-26.
 
4
Adept mobilerobots. http://​mobilerobots.​com, (2014). Online accessed 2014-11-26.
 
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Metadaten
Titel
An accurate and efficient navigation system for omnidirectional robots in industrial environments
verfasst von
Christoph Sprunk
Boris Lau
Patrick Pfaff
Wolfram Burgard
Publikationsdatum
02.03.2016
Verlag
Springer US
Erschienen in
Autonomous Robots / Ausgabe 2/2017
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-016-9557-1

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