TY - GEN
T1 - Indoor mapping using SLAM for applications in Flexible Manufacturing Systems
AU - Schueftan, David Szajowicz
AU - Colorado, M. Julian
AU - Bernal, Ivan F.Mondragon
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/12/2
Y1 - 2015/12/2
N2 - This paper presents a Simultaneous Localization and Mapping (SLAM) architecture applied to the autonomous navigation of an Automated Guided Vehicle (AGV) within a Flexible Manufacturing System (FMS). One of the key factors to integrate an AGV into a FMS is related to pick and place tasks, where the AGV is capable to pick and deliver objects within the FSM. To achieve such task, the AGV must first recognize the environment and then navigate throughout the FSM autonomously. Here, we present how a mobile robot can be used for indoor positioning and mapping of an industrial facility. To this purpose, we have developed an open-source software package based on the Robot Operating System (ROS) platform that can be easily integrated into an AGV such as the KUKA youBot. This article describes the ROS-based metapackage called kuka youbot arch and the experiments carried out for assessing the SLAM arquitecture performance in terms of mapping accuracy and proper navigation within de FSM.
AB - This paper presents a Simultaneous Localization and Mapping (SLAM) architecture applied to the autonomous navigation of an Automated Guided Vehicle (AGV) within a Flexible Manufacturing System (FMS). One of the key factors to integrate an AGV into a FMS is related to pick and place tasks, where the AGV is capable to pick and deliver objects within the FSM. To achieve such task, the AGV must first recognize the environment and then navigate throughout the FSM autonomously. Here, we present how a mobile robot can be used for indoor positioning and mapping of an industrial facility. To this purpose, we have developed an open-source software package based on the Robot Operating System (ROS) platform that can be easily integrated into an AGV such as the KUKA youBot. This article describes the ROS-based metapackage called kuka youbot arch and the experiments carried out for assessing the SLAM arquitecture performance in terms of mapping accuracy and proper navigation within de FSM.
UR - https://www.scopus.com/pages/publications/84960433647
U2 - 10.1109/CCAC.2015.7345226
DO - 10.1109/CCAC.2015.7345226
M3 - Conference contribution
AN - SCOPUS:84960433647
T3 - 2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings
BT - 2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings
A2 - Osorio, Gustavo Adolfo
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd IEEE Colombian Conference on Automatic Control, CCAC 2015
Y2 - 14 October 2015 through 16 October 2015
ER -