This work aims at showing that it is feasible and safe to use a swarm of Unmanned Aerial Vehicles (UAVs) indoors alongside humans. UAVs are increasingly being integrated under the Industry 4.0 framework. UAV swarms are primarily deployed outdoors in civil and military applications, but the opportunities for using them in manufacturing and supply chain management are immense. There is extensive research on UAV technology, e.g., localization, control, and computer vision, but less research on the practical application of UAVs in industry. UAV technology could improve data collection and monitoring, enhance decision-making in an Internet of Things framework and automate time-consuming and redundant tasks in the industry. However, there is a gap between the technological developments of UAVs and their integration into the supply chain. Therefore, this work focuses on automating the task of transporting packages utilizing a swarm of small UAVs operating alongside humans. MoCap system, ROS, and unity are used for localization, inter-process communication and visualization. Multiple experiments are performed with the UAVs in wander and swarm mode in a warehouse like environment.
翻译:这项工作旨在表明,在室内使用大批无人驾驶航空飞行器(无人驾驶飞行器)与人类一起是可行和安全的。无人驾驶飞行器越来越多地被纳入工业4.0框架。无人驾驶飞行器的群群主要部署在民用和军事用途室外,但在制造和供应链管理方面使用这些群群的机会巨大。对无人驾驶飞行器技术进行了广泛的研究,例如本地化、控制和计算机视野,但对无人驾驶飞行器在工业中的实际应用进行了较少的研究。无人驾驶飞行器技术可以改进数据收集和监测,加强物联网框架中的决策,以及工业中自动化的耗时和冗余任务。然而,无人驾驶飞行器的技术发展与它们融入供应链之间存在差距。因此,这项工作的重点是利用与人类一起运行的一群小型无人驾驶飞行器进行运输包件的自动化工作。移动系统、ROS和统一用于本地化、流程间通信和可视化。与无人驾驶飞行器进行多种实验,如在仓库中的漫游和温模式进行。