Driving and localization design of a multi-sensor transport robot

Abstract

Based on the actual demand of a transport robot, in order to ensure the speediness and reliability, and reduce the requirement for power, we proposed the concept of reducing the degree of freedom of the robot arm to only one, which is in the vertical direction, to speed up the process of grabbing and placing. To make up for the loss of flexibility, we propose a design scheme of an omni-directional mobile robot which requires a more complex design of driving and global localization based on multi-sensor fusion.