Improving Navigation Stack of a ROS-Enabled Industrial Autonomous Mobile Robot (AMR) to be Incorporated in a Large-Scale Automotive Production

Savcı, İsmail Hakkı; Yïlmaz, Aydan; Karaman, Sadettin; Ocakli, Hakan; Temeltaş, Hakan

doi:10.1007/s00170-022-08883-0

Cited by 11 publications

(6 citation statements)

References 35 publications

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“…The introduction of automation in the production of motor vehicles is a promising direction for obtaining a cost/quality balance, so according to the research Z. Papulová [21] established the growth of the implementation of automation of Industry 4.0 in the production and technological processes of the leading car manufacturing companies, according to the research C. Guo [22] noted the high potential of the integration of robotics as the main process of automated automotive production, the research M. Hofmann [23] showed that the automotive manufacturing processes are currently transforming by integrating modern automation tools, which leads to a complete change in the paradigm of automotive production, etc. [24][25][26]. One of the responsible technological multi-component elements is the vehicle gearbox (which exceptional importance is confirmed by the relevant research reflected in the publications of Y. X. Li [27], J.…”

Section: Introductionmentioning

confidence: 89%

Automating the Assembly Process of Passenger Car Gearboxes

Filatov¹

2022

AJRCoS

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Aims: The study aims to identify ways and potential solutions to automate the assembly and production process for passenger car gearboxes. Object of Research: Assembly and production process for car gearboxes. Subject of Research: Modern and evolutionary automation tools that have the potential to be implemented in the assembly processes of automotive transmission controls. Methodology: To achieve this goal, as part of this study, it is planned to apply methods of bibliometric analysis of leading scientometric databases to obtain correlation relationships and analytical conclusions regarding the vector of development of automation means of passenger car gearbox assembly process. Results: As a result of the research by means of scientometric analysis and correlation the vector of probabilistic technical solutions of integration and development of automation means of the sequence of production operations during the assembly of the transmission, as well as adaptive framework-design solutions for the implementation of tools of the fourth iteration of industrial-industrial progress in the production processes of assembly of the studied technical control means and logical-technological connection of the elements of the transmission system, which affect the overall process of automotive manufacturization. Conclusion: The passenger car gearbox is a multi-component, complex system whose assembly is a complex multi-operational process, and given the high responsibility of this machine element, there is an urgent need to introduce modern automation tools into the assembly and production processes, which will significantly optimize global automatofactoring. The practical results of the present study consist in the formation of a focus scientometric database of profile data, identification of a potential vector of development of means and systems of automation of assembly-production operations, identification and formation of solutions for the implementation of modern means of automated production in the actual global automotive manufacturing, which allows to get the optimum ratio of production costs/quality of products by improving the manufacturability, productivity and flexibility of processes of assembly of multi-element and multi-component automotive systems and structures.

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Section: Introductionmentioning

confidence: 89%

Automating the Assembly Process of Passenger Car Gearboxes

Filatov¹

2022

AJRCoS

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“…Similarly, many more techniques are available in the literature, including rigid body localization using wireless sensor networks [11,12], WiFi-based localization architecture [13,14], vision-based approaches using different types of cameras [15][16][17], and particle filter-based approaches such as Adaptive Monte Carlo Localization (MCL) [18], Self-Adaptive MCL (SA-MCL) [19], and particle flow filtering architecture [20]. It is also possible to improve their performance with suggested arrangements [21]. These methods are well-suited for the delivery stage, where the AMR operates outside the docking zone since they have the advantage of working with similar performance across the entire work area of the factory on a large scale, and their computational load is usually not too high.…”

Section: Introductionmentioning

confidence: 99%

A multi-stage localization framework for accurate and precise docking of autonomous mobile robots (AMRs)

Yilmaz,

Temeltas

2024

Robotica

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Autonomous navigation has been a long-standing research topic, and researchers have worked on many challenging problems in indoor and outdoor environments. One application area of navigation solutions is material handling in industrial environments. With Industry 4.0, the simple problem in traditional factories has evolved into the use of autonomous mobile robots within flexible production islands in a self-decision-making structure. Two main stages of such a navigation system are safe transportation of the vehicle from one point to another and reaching destinations at industrial standards. The main concern in the former is roughly determining the vehicle’s pose to follow the route, while the latter aims to reach the target with high accuracy and precision. Often, it may not be possible or require extra effort to satisfy requirements with a single localization method. Therefore, a multi-stage localization approach is proposed in this study. Particle filter-based large-scale localization approaches are utilized during the vehicle’s movement from one point to another, while scan-matching-based methods are used in the docking stage. The localization system enables the appropriate approach based on the vehicle’s status and task through a decision-making mechanism. The decision-making mechanism uses a similarity metric obtained through the correntropy criterion to decide when and how to switch from large-scale localization to precise localization. The feasibility and performance of the developed method are corroborated through field tests. These evaluations demonstrate that the proposed method accomplishes tasks with sub-centimeter and sub-degree accuracy and precision without affecting the operation of the navigation algorithms in real time.

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“…Autonomous mobile robots that reduce manpower in the industry and increase system efficiency have attracted significant attention from the production industry, with the development of computer and software technologies and the Industry 4.0 industrial revolution [1][2]. Autonomous mobile robots have become tools used in many operations of the production industry today, including production lines and storage processes [3][4][5].Each component of robot systems consist of many mechanical and electrical systems has an ideal operating temperature [6]. Thermal management for each of these components is very important for both itself and for their interactions with each other [7].…”

Section: Introductionmentioning

confidence: 99%

“…Mobile robot systems consist battery power generation systems and with it associated of many electronic components and devices. Battery thermal control is not only for the safe and efficient operation of the battery, It is also necessary for the safety and efficient operation of affected by battery temperature systems and devices working in connection with the battery [4][5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Survey of air battery thermal management on the autonomous mobile robots

2023

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With the development of computer technologies and battery systems, mobile robot systems have gained an important place in our lives. Lithium-ion batteries, which attract attention for portable applications due to their high power output, light weight, and no memory effect, must operate in a limited temperature range in order to operate safely and for a long application life. This case makes it necessary to use battery thermal control systems that will provide temperature control for lithium-ion battery applications. Within the scope of our study, lithium-ion battery thermal management systems were investigated in detail. A detailed literature review was carried out on air thermal management systems, with their application and systemic convenience. Due to restricted packaging space for battery in mobile robots, cooling will be more challenging in the future. The air thermal management system, which has limited thermal management capability due to the low thermal properties of the air, is a thermal management method that will be sufficient especially for low-scale applications.

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Improving Navigation Stack of a ROS-Enabled Industrial Autonomous Mobile Robot (AMR) to be Incorporated in a Large-Scale Automotive Production

Cited by 11 publications

References 35 publications

Automating the Assembly Process of Passenger Car Gearboxes

Automating the Assembly Process of Passenger Car Gearboxes

A multi-stage localization framework for accurate and precise docking of autonomous mobile robots (AMRs)

Survey of air battery thermal management on the autonomous mobile robots

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