Design and Implementation of Load-Carrying Autonomous Industrial Robot for Indoor Environments Iç Ortamlarda Yuk Tasiyabilen Otonom Endustriyel Robot Tasarimi ve Uygulamasi

Gencturk H., Haciosmanoglu B., Saybak H., Sezer V.

2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022, Antalya, Türkiye, 7 - 09 Eylül 2022 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/asyu56188.2022.9925561
  • Basıldığı Şehir: Antalya
  • Basıldığı Ülke: Türkiye
  • Anahtar Kelimeler: autonomous robot, behavior planning, localization, mapping, motion planning
  • İstanbul Teknik Üniversitesi Adresli: Evet

Özet

© 2022 IEEE.This study explains the design and implementation stages of a load-carrying industrial autonomous robot that will be used in a factory environment. The considerations in the mechanical design of the robot and the calculations in the motor/gearbox selection are shown. In addition to the fundamental autonomy solutions used for mapping, localization, planning, and control; studies on humanrobot interaction are also explained. According to the results of the real-world experiments, it is observed that the robot successfully understands its environment and reaches the desired goal position even in an environment with dynamic obstacles.