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

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.