Development of a Position and Control System for an Omnidirectional Platform Using Vision, LIDAR and Line Following Technologies

使用视觉、激光雷达和巡线技术开发全向平台的位置和控制系统

• 批准号: 532396-2018
• 负责人: Michaud, François
• 金额: $ 1.82万
• 依托单位: Université de Sherbrooke
• 依托单位国家: 加拿大
• 项目类别: Engage Grants Program
• 财政年份: 2018
• 资助国家: 加拿大
• 起止时间: 2018-01-01 至 2019-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=659745
• 关键词: Development; Position; Control; System; Omnidirectional

Over the last few years, assembly lines have started to innovate to support flexible and reconfigurable**configurations and processes. One of such innovations is the use of mobile platforms to move very large and**heavy payloads. Omnidirectional motion (the ability to move in all direction without changing orientation)**becomes greatly beneficial in such context, facilitating movement in cluttered environments and for positioning**itself next to a processing station a table or a counter. One challenge is to design a platform that provides such**capabilities while still have low height, and Inogec inc. has come up with a new omnidirectional mechanism**for doing so. What is missing is to make the platform move autonomously in industrial settings. Having**developed and program omnidirectional autonomous platforms, IntRoLab, the Intelligent, Interactive,**Integrated and Interdisciplinary Robot Lab Systems of the Université de Sherbrooke, have the expertise to**design and implement the required navigation capabilities. The plan is to integrate vision and LIDAR**proximity detection and mapping capabilities with line-following on Inogec omnidirectional platform, and**demonstrate its navigation capabilities for moving in various conditions. The project involves A) conducting a**survey of industrial-grade sensing and processing systems, allowing to implement customized software on the**platform, B) integrating the sensing and processing systems on the platform, C) implementing simulatenous**localization and mapping (SLAM) using IntRoLab's RTAB-Map library, and D) demonstrating path planning**capabilities of the overall system. The objective is to have a platform move from one point to another and**obstacle avoidance. This will result in a first autonomous omnidirectional transport platform for high payload**and low profile to be used in industrial settings. It will constitute a great experimental and developmental base**on which to add more intelligent capabilities, from advanced teleoperation to traffic management of a fleet of**platforms.

在过去的几年中，组装线已经开始支持灵活性和可重新配置***这样的Novations是使用移动平台在不改变方向的情况下移动非常大的较大有效负载。促进杂乱无章的Environt的运动，并在处理站旁边的桌子或计数器旁边的一个挑战。 Introab，智能，互动，**综合和跨学科的机器人实验室系统具有**，具有编程的自治平台，具有**设计和实施所需的导航能力。视觉和激光镜头**近距离检测和绘制构图的功能，具有线条构成的Onogec Onogec OmnidiDirectional平台，并且**证明了其在各种条件下移动的导航能力。 b）在平台s rtab映射库上集成和处理系统，d）展示整体系统的路径计划。 h igh igh有效载荷**和低调的白色运输平台，这将成为一个巨大的实验和发展基础 * *，从而增加了更聪明的能力**平台。