Vision-based omnidirectional indoor robots for autonomous navigation and localization in manufacturing industry
In this paper, we present a new generation of omnidirectional automated guided vehicles (omniagv) used for transporting materials within a manufacturing factory with the ability to navigate autonomously and intelligently by interacting with the environment, including people and other entities. This...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2024-02-01
|
| Series: | Heliyon |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2405844024020735 |
| _version_ | 1827322261869166592 |
|---|---|
| author | Cosimo Patruno Vito Renò Massimiliano Nitti Nicola Mosca Maria di Summa Ettore Stella |
| author_facet | Cosimo Patruno Vito Renò Massimiliano Nitti Nicola Mosca Maria di Summa Ettore Stella |
| author_sort | Cosimo Patruno |
| collection | DOAJ |
| description | In this paper, we present a new generation of omnidirectional automated guided vehicles (omniagv) used for transporting materials within a manufacturing factory with the ability to navigate autonomously and intelligently by interacting with the environment, including people and other entities. This robot has to be integrated into the operating environment without significant changes to the current facilities or heavy redefinitions of the logistics processes already running. For this purpose, different vision-based systems and advanced methods in mobile and cognitive robotics are developed and integrated. In this context, vision and perception are key factors. Different developed modules are in charge of supporting the robot during its navigation in the environment. Specifically, the localization module provides information about the robot pose by using visual odometry and wheel odometry systems. The obstacle avoidance module can detect obstacles and recognize some object classes for adaptive navigation. Finally, the tag detection module aids the robot during the picking phase of carts and provides information for global localization. The smart integration of vision and perception is paramount for effectively using the robot in the industrial context. Extensive qualitative and quantitative results prove the capability and effectiveness of the proposed AGV to navigate in the considered industrial environment. |
| first_indexed | 2024-03-08T00:09:28Z |
| format | Article |
| id | doaj.art-ba032087e00844c0857f56f979c9dfdd |
| institution | Directory Open Access Journal |
| issn | 2405-8440 |
| language | English |
| last_indexed | 2024-04-25T01:21:44Z |
| publishDate | 2024-02-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Heliyon |
| spelling | doaj.art-ba032087e00844c0857f56f979c9dfdd2024-03-09T09:26:59ZengElsevierHeliyon2405-84402024-02-01104e26042Vision-based omnidirectional indoor robots for autonomous navigation and localization in manufacturing industryCosimo Patruno0Vito Renò1Massimiliano Nitti2Nicola Mosca3Maria di Summa4Ettore Stella5Corresponding author.; Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, Italian National Research Council, STIIMA-CNR, ItalyInstitute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, Italian National Research Council, STIIMA-CNR, ItalyInstitute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, Italian National Research Council, STIIMA-CNR, ItalyInstitute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, Italian National Research Council, STIIMA-CNR, ItalyInstitute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, Italian National Research Council, STIIMA-CNR, ItalyInstitute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, Italian National Research Council, STIIMA-CNR, ItalyIn this paper, we present a new generation of omnidirectional automated guided vehicles (omniagv) used for transporting materials within a manufacturing factory with the ability to navigate autonomously and intelligently by interacting with the environment, including people and other entities. This robot has to be integrated into the operating environment without significant changes to the current facilities or heavy redefinitions of the logistics processes already running. For this purpose, different vision-based systems and advanced methods in mobile and cognitive robotics are developed and integrated. In this context, vision and perception are key factors. Different developed modules are in charge of supporting the robot during its navigation in the environment. Specifically, the localization module provides information about the robot pose by using visual odometry and wheel odometry systems. The obstacle avoidance module can detect obstacles and recognize some object classes for adaptive navigation. Finally, the tag detection module aids the robot during the picking phase of carts and provides information for global localization. The smart integration of vision and perception is paramount for effectively using the robot in the industrial context. Extensive qualitative and quantitative results prove the capability and effectiveness of the proposed AGV to navigate in the considered industrial environment.http://www.sciencedirect.com/science/article/pii/S2405844024020735Omnidirectional autonomous robotVisual odometryConvolutional neural networkComputer visionFeature-based approachManufacturing industry |
| spellingShingle | Cosimo Patruno Vito Renò Massimiliano Nitti Nicola Mosca Maria di Summa Ettore Stella Vision-based omnidirectional indoor robots for autonomous navigation and localization in manufacturing industry Heliyon Omnidirectional autonomous robot Visual odometry Convolutional neural network Computer vision Feature-based approach Manufacturing industry |
| title | Vision-based omnidirectional indoor robots for autonomous navigation and localization in manufacturing industry |
| title_full | Vision-based omnidirectional indoor robots for autonomous navigation and localization in manufacturing industry |
| title_fullStr | Vision-based omnidirectional indoor robots for autonomous navigation and localization in manufacturing industry |
| title_full_unstemmed | Vision-based omnidirectional indoor robots for autonomous navigation and localization in manufacturing industry |
| title_short | Vision-based omnidirectional indoor robots for autonomous navigation and localization in manufacturing industry |
| title_sort | vision based omnidirectional indoor robots for autonomous navigation and localization in manufacturing industry |
| topic | Omnidirectional autonomous robot Visual odometry Convolutional neural network Computer vision Feature-based approach Manufacturing industry |
| url | http://www.sciencedirect.com/science/article/pii/S2405844024020735 |
| work_keys_str_mv | AT cosimopatruno visionbasedomnidirectionalindoorrobotsforautonomousnavigationandlocalizationinmanufacturingindustry AT vitoreno visionbasedomnidirectionalindoorrobotsforautonomousnavigationandlocalizationinmanufacturingindustry AT massimilianonitti visionbasedomnidirectionalindoorrobotsforautonomousnavigationandlocalizationinmanufacturingindustry AT nicolamosca visionbasedomnidirectionalindoorrobotsforautonomousnavigationandlocalizationinmanufacturingindustry AT mariadisumma visionbasedomnidirectionalindoorrobotsforautonomousnavigationandlocalizationinmanufacturingindustry AT ettorestella visionbasedomnidirectionalindoorrobotsforautonomousnavigationandlocalizationinmanufacturingindustry |