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Cloud-based cooperative navigation for mobile service robots in dynamic industrial environments

: Abbenseth, Jannik; Garcia Lopez, Felipe; Henkel, Christian; Dörr, Stefan


Association for Computing Machinery -ACM-:
ACM Symposium on Applied Computing, SAC 2017. Proceedings : April 03 - 07, 2017, Marrakech, Morocco
New York: ACM, 2017
ISBN: 978-1-4503-4486-9
Symposium on Applied Computing (SAC) <32, 2017, Marrakech>
Conference Paper
Fraunhofer IPA ()
Cloud Computing; Cloud Technologie; Multi-Agenten-System; Cloud Navigation; Robotik; Serviceroboter

In this paper we address the demand for flexibility and economic efficiency in industrial autonomous guided vehicle (AGV) systems by the use of cloud computing. We propose a cloud-based architecture that moves parts of mapping, localization and path planning tasks to a cloud server. We use a cooperative longterm Simultaneous Localization and Mapping (SLAM) approach which merges environment perception of stationary sensors and mobile robots into a central Holistic Environment Model (HEM). Further, we deploy a hierarchical cooperative path planning approach using Conflict-Based Search (CBS) to find optimal sets of paths which are then provided to the mobile robots. For communication we utilize the Manufacturing Service Bus (MSB) which is a component of the manufacturing cloud platform Virtual Fort Knox (VFK). We demonstrate the feasibility of this approach in a real-life industrial scenario. Additionally, we evaluate the system's communication and the planner for various numbers of agents.