Economical Mobile Robot Design Prototype and Simulation for Industry 4.0 Applications

2020 IEEE 3rd International Conference and Workshop in Óbuda on Electrical and Power Engineering (CANDO-EPE) Pub Date : 2020-11-18 DOI:10.1109/CANDO-EPE51100.2020.9337786

Csaba Hajdu, János Hollósi, Rudolf Krecht, Á. Ballagi, C. Pozna

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引用次数: 5

Abstract

Autonomous mobile robots received a rising research interest, with the appearance of complex cyber-physical system applications, like Industry 4.0. Related scenarios require not only some degree of autonomous capabilities of the control software but also tight interaction between humans as well. In this paper, a prototype autonomous mobile robot of such functionalities is presented with additionally aiming cost-effective construction. The robot is currently capable of performing basic tasks, like traversing to a goal configuration, mapping the environment, and detecting and avoiding obstacles. To allow the versatile extension with additional cyber-physical software, the control software interfaces the Robot Operating System (ROS), a popular framework in robotic research. During the development of software and hardware, simulation has been heavily utilized. This allowed an iterative development and the use of verification in the early development phases.

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面向工业4.0应用的经济型移动机器人设计原型与仿真

随着工业4.0等复杂网络物理系统应用的出现，自主移动机器人受到了越来越多的研究兴趣。相关场景不仅需要控制软件具有一定程度的自主能力，还需要人机之间的紧密互动。本文提出了一种具有上述功能的自主移动机器人原型，并以经济高效的结构为目标。该机器人目前能够执行基本任务，如穿越到目标配置，绘制环境，探测和避开障碍物。为了允许与额外的网络物理软件的多功能扩展，控制软件接口机器人操作系统(ROS)，一个流行的机器人研究框架。在软件和硬件的开发过程中，仿真已经被大量使用。这允许在早期开发阶段进行迭代开发和使用验证。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2020 IEEE 3rd International Conference and Workshop in Óbuda on Electrical and Power Engineering (CANDO-EPE)

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