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Integration of a Free Navigation Autonomous Mobile Robot into a Graph and ROS-Based Robot Fleet Manager

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Robot 2023: Sixth Iberian Robotics Conference (ROBOT 2023)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 976))

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Abstract

The need for interoperability between robots of different brands and navigation typologies, graph-based and free navigation, is increasing and this has led to the development of a new approach to empower a graph and ROS-based robot fleet manager for the management of free navigation mobile robots.

For this implementation and validation, in real tests, the OMRON LD-90 was the mobile robot platform chosen, which has the particularity of not allowing the execution of a waypoints sequence. A software module was developed to exchange data between a non-ROS-based mobile robot and a specific ROS-based robot fleet manager.

This is an approach applicable to any free navigation Autonomous Mobile Robot (AMR) with the necessary adaptations regarding the information provided by the different robot brands.

This work is co-financed by Component 5 - Capitalization and Business Innovation, integrated in the Resilience Dimension of the Recovery and Resilience Plan within the scope of the Recovery and Resilience Mechanism (MRR) of the European Union (EU), framed in the Next Generation EU, for the period 2021–2026, within project Produtech_R3, with reference 60.

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Author information

Authors and Affiliations

  1. INESC TEC, Rua Dr. Roberto Frias, 4200-465, Porto, Portugal

    Paulo M. Rebelo, Paulo Moura Oliveira, Héber Sobreira & Pedro Costa

  2. Universidade de Trás-os-Montes e Alto Douro (UTAD), Quinta de Prados, 5000-801, Vila Real, Portugal

    Paulo M. Rebelo & Paulo Moura Oliveira

  3. Faculdade de Engenharia da Universidade do Porto, Rua Dr. Roberto Frias, Porto, Portugal

    Miguel C. Félix & Pedro Costa

Authors
  1. Paulo M. Rebelo
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  2. Miguel C. Félix
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  3. Paulo Moura Oliveira
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  4. Héber Sobreira
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  5. Pedro Costa
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Corresponding author

Correspondence to Paulo M. Rebelo .

Editor information

Editors and Affiliations

  1. Dep. de Eng. Electrotecnica e de Computadores, University of Coimbra, Coimbra, Portugal

    Lino Marques

  2. Department of Electrónica Industrial, University of Minho, Escola de Engenharia, Guimarães, Portugal

    Cristina Santos

  3. Department of Electrical Engineering, Polytechnic Institute of Bragança, Bragança, Portugal

    José Luís Lima

  4. Centro Universitario de la Defensa, Zaragoza, Spain

    Danilo Tardioli

  5. Centre for Automation and Robotics UPM-CSIC, Universidad Politecnica de Madrid, Madrid, Spain

    Manuel Ferre

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Rebelo, P.M., Félix, M.C., Oliveira, P.M., Sobreira, H., Costa, P. (2024). Integration of a Free Navigation Autonomous Mobile Robot into a Graph and ROS-Based Robot Fleet Manager. In: Marques, L., Santos, C., Lima, J.L., Tardioli, D., Ferre, M. (eds) Robot 2023: Sixth Iberian Robotics Conference. ROBOT 2023. Lecture Notes in Networks and Systems, vol 976. Springer, Cham. https://doi.org/10.1007/978-3-031-58676-7_25

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