Regresar

Multi-robot System for Collaborative Work Equipped with Trajectory Planning over IoT Architecture

Abstract:

This paper shows the design and construction of a mobile multi-robot system for collaborative applications. By using accessible elements in the local market, the researchers built three omnidirectional mobile robots. The multi-robot system has centralized control and is managed by a central Broker with ROS implementation for local communication and IoT, through MQTT protocol, for monitoring and control from the cloud. The multi-robot systems implement the classification of objects by color. The use of artificial vision for recognizing objects, obstacles, and the location of the robots within a controlled environment allows for efficient correction of errors during their operation. The Potential Fields and A* method determine the generation of routes, and a simple planning algorithm determines the mobilization of the multi-robot system when fulfilling a classification task. The results showed an error of less than 5% in both the route tracking and its final objective in various mobility test circumstances. The final product of the research is a modular, scalable, easily controlled, with ease of manufacturing and replicability prototype, along with software to control and monitor the system with the use of machine vision.