Graph-SLAM Approach for Indoor UAV Localization in Warehouse Logistics Applications

Detalhes bibliográficos
Autor(a) principal: Antunes, José Filipe da Silva Oliveira
Data de Publicação: 2021
Tipo de documento: Dissertação
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10400.22/20078
Resumo: In the context of Industry 4.0, warehouses are transforming and new solutions are allowing more warehouse tasks to be executed in autonomous ways. The use of robots is a great advantage and a great addition to the autonomy of such structures since they can help with the automatic cyclic counting of the inventory, the localization of hard-to-find items, and the access to narrow or high storage areas. In this context, the usage of an Unmanned Aerial Vehicle (UAV) becomes a requirement in this type of operations. Nevertheless, using this type of robots inside a warehouse comes with great engineering challenges such as indoor autonomous localization and navigation, collision avoidance, and automated UAV fleet management. Therefore, this thesis addresses the development of a localization framework based in Graph-SLAM that is capable of calculating the real-time position and orientation of a commercial UAV in warehouse scenarios.
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spelling Graph-SLAM Approach for Indoor UAV Localization in Warehouse Logistics ApplicationsIndoor LocalizationSLAMGraph-SLAMUAVIndustry 4.0,ROSTagsDJILocalização IndoorIndústria 4.0In the context of Industry 4.0, warehouses are transforming and new solutions are allowing more warehouse tasks to be executed in autonomous ways. The use of robots is a great advantage and a great addition to the autonomy of such structures since they can help with the automatic cyclic counting of the inventory, the localization of hard-to-find items, and the access to narrow or high storage areas. In this context, the usage of an Unmanned Aerial Vehicle (UAV) becomes a requirement in this type of operations. Nevertheless, using this type of robots inside a warehouse comes with great engineering challenges such as indoor autonomous localization and navigation, collision avoidance, and automated UAV fleet management. Therefore, this thesis addresses the development of a localization framework based in Graph-SLAM that is capable of calculating the real-time position and orientation of a commercial UAV in warehouse scenarios.No contexto da Indústria 4.0, os armazéns estão a sofrer transformações e a criar soluções que permitem que cada vez mais tarefas relacionadas com estas infraestruturas sejam realizadas de forma autónoma. A utilização de robôs traz grandes vantagens e grandes acréscimos à autonomia de tais estruturas pois estes podem ajudar na contagem cíclica e automática do inventário, na localização de stock difícil de encontrar e no acesso a áreas de armazenamento estreitas ou altas. Neste contexto, o uso de um UAV torna-se um requisito neste tipo de operações. No entanto, o uso deste tipo de robôs dentro de um armazém apresenta grandes desafios de engenharia, como a localização e navegação autónoma, a prevenção e deteção de colisões e a gestão automatizada de frotas de veículos. Neste contexto, esta tese aborda o desenvolvimento de um algoritmo de localização capaz de calcular a posição e orientação em tempo real de um UAV em cenário de armazém indoor.Dias, André Miguel PinheiroRepositório Científico do Instituto Politécnico do PortoAntunes, José Filipe da Silva Oliveira20212023-11-17T00:00:00Z2021-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttp://hdl.handle.net/10400.22/20078TID:202936805enginfo:eu-repo/semantics/embargoedAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-03-13T13:15:00Zoai:recipp.ipp.pt:10400.22/20078Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:40:09.043091Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Graph-SLAM Approach for Indoor UAV Localization in Warehouse Logistics Applications
title Graph-SLAM Approach for Indoor UAV Localization in Warehouse Logistics Applications
spellingShingle Graph-SLAM Approach for Indoor UAV Localization in Warehouse Logistics Applications
Antunes, José Filipe da Silva Oliveira
Indoor Localization
SLAM
Graph-SLAM
UAV
Industry 4.0,
ROS
Tags
DJI
Localização Indoor
Indústria 4.0
title_short Graph-SLAM Approach for Indoor UAV Localization in Warehouse Logistics Applications
title_full Graph-SLAM Approach for Indoor UAV Localization in Warehouse Logistics Applications
title_fullStr Graph-SLAM Approach for Indoor UAV Localization in Warehouse Logistics Applications
title_full_unstemmed Graph-SLAM Approach for Indoor UAV Localization in Warehouse Logistics Applications
title_sort Graph-SLAM Approach for Indoor UAV Localization in Warehouse Logistics Applications
author Antunes, José Filipe da Silva Oliveira
author_facet Antunes, José Filipe da Silva Oliveira
author_role author
dc.contributor.none.fl_str_mv Dias, André Miguel Pinheiro
Repositório Científico do Instituto Politécnico do Porto
dc.contributor.author.fl_str_mv Antunes, José Filipe da Silva Oliveira
dc.subject.por.fl_str_mv Indoor Localization
SLAM
Graph-SLAM
UAV
Industry 4.0,
ROS
Tags
DJI
Localização Indoor
Indústria 4.0
topic Indoor Localization
SLAM
Graph-SLAM
UAV
Industry 4.0,
ROS
Tags
DJI
Localização Indoor
Indústria 4.0
description In the context of Industry 4.0, warehouses are transforming and new solutions are allowing more warehouse tasks to be executed in autonomous ways. The use of robots is a great advantage and a great addition to the autonomy of such structures since they can help with the automatic cyclic counting of the inventory, the localization of hard-to-find items, and the access to narrow or high storage areas. In this context, the usage of an Unmanned Aerial Vehicle (UAV) becomes a requirement in this type of operations. Nevertheless, using this type of robots inside a warehouse comes with great engineering challenges such as indoor autonomous localization and navigation, collision avoidance, and automated UAV fleet management. Therefore, this thesis addresses the development of a localization framework based in Graph-SLAM that is capable of calculating the real-time position and orientation of a commercial UAV in warehouse scenarios.
publishDate 2021
dc.date.none.fl_str_mv 2021
2021-01-01T00:00:00Z
2023-11-17T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/20078
TID:202936805
url http://hdl.handle.net/10400.22/20078
identifier_str_mv TID:202936805
dc.language.iso.fl_str_mv eng
language eng
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dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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