Dezentraler kollaborativer Transport in heterogenen Roboterflotten durch vier Kommunikationsebenen auf Basis der Omni-Kurven-Parameter

Abstract

Changeable production needs an internal logistics system that can cope with changing loads. Cooperative transport offers the possibility of transporting exceedingly large loads with a group of mobile robots. This paper addresses the research question of unifying cooperation considering each robots configuration using Omni-Curve-Parameters (OCP). OCP are designed to control robots with arbitrary wheel configurations and can be used for the control of cooperative transportation groups, by considering the group like a vehicle with many wheels. The approach is successfully validated on two omnidirectional robots. The emerging challenges concerning the communication between the participants lead to a multi-leveled communication model for a heterogeneous fleet, since exchanged data differs in its volume and its availability and time requirements. Consisting of the global, local, cooperative and safety levels, this model is a first draft for standardized decentral communication.