The automation of internal logistics and inventory-related tasks is one of the main challenges of modern-day manufacturing corporations since it allows a more effective application of their human resources. Nowadays, Autonomous Mobile Robots (AMR) are state of the art technologies for such applications due to their great adaptability in dynamic environments, replacing more traditional solutions such as Automated Guided Vehicles (AGV), which are quite limited in terms of flexibility and require expensive facility updates for their installation. The application of Artificial Intelligence (AI) to increase AMRs capabilities has been contributing for the development of more sophisticated and efficient robots. Nevertheless, multi-robot coordination and cooperation for solving complex tasks is still a hot research line with increasing interest. This work proposes a Multi-Agent System for coordinating multiple TIAGo robots in tasks related to the manufacturing ecosystem such as the transportation and dispatching of raw materials, finished products and tools. Furthermore, the system is showcased in a realistic simulation using both Gazebo and Robot Operating System (ROS).
翻译:内部物流和库存相关任务的自动化是现代制造公司的主要挑战之一,因为它能够更有效地应用人力资源。如今,自主移动机器人(AMR)是这种应用的最新技术,因为它们在动态环境中具有极大的适应性,取代了自动化制导器(AGV)等较传统的解决方案,这些解决方案在灵活性方面相当有限,需要昂贵的设施更新才能安装。人工智能(AI)用于提高反光机的能力有助于开发更先进、更高效的机器人。然而,多机器人在解决复杂任务方面进行协调与合作仍然是一条热门研究线,人们越来越感兴趣。这项工作提议建立一个多机构系统,在与制造生态系统有关的任务方面协调多台TIAGO机器人,例如原材料、制成品和工具的运输和发送。此外,该系统在使用Gazebo和机器人操作系统(ROS)进行现实的模拟时展示。