Behavior based autonomous mobile Robot for industrial logistics

Detalhes bibliográficos
Autor(a) principal: Corvo, João Nuno Salvador Rodrigues
Data de Publicação: 2022
Tipo de documento: Dissertação
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10362/153181
Resumo: The design of robot behaviors to meet the requirements of the new industrial era - Industry 4.0 - has grown significantly in recent years. Especially the demand for flexible and adaptable systems has increased exponentially since intelligent robots started to be integrated into assembly lines and replace human activities. Tools such as Finite State Machines have proven to be an understandable and quick way to solve high-level problems in robotics; however, unmanageable when complexity rises. They become confusing and unreadable, making their modification and mainte- nance a problem. New tools, such as Behavior Trees, have emerged, creating modular, flexible, and adaptable systems without sacrificing readability with the increased com- plexity. The proposed architecture follows a hierarchical layered approach taking advantage of Behavior Trees, developing modular robot skills and system interfaces to create an autonomous behavior-based system. The software was implemented and tested in an Autonomous Mobile Robot capable of navigating complex environments and executing basic tasks. The results showed real advantages in using the layer-based approach, particularly giving the system modularity and increased flexibility capable of being easily improved and used in other systems. It was also concluded that Behavior Trees are an adequate tool for reactive systems in highly dynamic environments.
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spelling Behavior based autonomous mobile Robot for industrial logisticsautonomous mobile robotsbehavior treesindustry 4.0autonomous navigationpath planningROSDomínio/Área Científica::Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e InformáticaThe design of robot behaviors to meet the requirements of the new industrial era - Industry 4.0 - has grown significantly in recent years. Especially the demand for flexible and adaptable systems has increased exponentially since intelligent robots started to be integrated into assembly lines and replace human activities. Tools such as Finite State Machines have proven to be an understandable and quick way to solve high-level problems in robotics; however, unmanageable when complexity rises. They become confusing and unreadable, making their modification and mainte- nance a problem. New tools, such as Behavior Trees, have emerged, creating modular, flexible, and adaptable systems without sacrificing readability with the increased com- plexity. The proposed architecture follows a hierarchical layered approach taking advantage of Behavior Trees, developing modular robot skills and system interfaces to create an autonomous behavior-based system. The software was implemented and tested in an Autonomous Mobile Robot capable of navigating complex environments and executing basic tasks. The results showed real advantages in using the layer-based approach, particularly giving the system modularity and increased flexibility capable of being easily improved and used in other systems. It was also concluded that Behavior Trees are an adequate tool for reactive systems in highly dynamic environments.Nos últimos anos, tem-se verificado um crescimentos na modelação de comportamen- tos robóticos com o objetivo de satisfazer necessidades dos novos paradigmas da indústria. Em particular, na indústria 4.0, com a integração de robôs nas linhas de produção e a subs- tituição dos humanos em diversas atividades, tem-se verificado um aumento na exigência de sistemas mais adaptáveis e flexíveis. Ferramentas tais como as máquinas de estado provaram ser percetíveis e de fácil uti- lização na resolução de problemas na área da robótica. No entanto, com o aumento da complexidade, tornam-se problemáticas pela sua desorganização e ilegibilidade. Por con- seguinte, emergiram novas estruturas, tais como as árvores de comportamento, capazes de tornar os sistemas mais modulares e flexíveis. A arquitetura por hierarquisação de camadas proposta, tira partido das vantagens das árvores de comportamento, com o desenvolvimento de comportamentos e interfaces de modo a criar um sistema reativo e autónomo. O software foi implementado e testado num robô móvel autónomo, capaz de navegar em ambientes complexos e de executar tarefas basicas. Os resultados mostraram vantagens na utilização da arquitetura proposta, em parti- cular, trazendo modularidade e flexibilidade ao sistema robótico, permitindo uma futura melhoria de cada um dos módulos, tal como, a sua utilização noutros sistemas.Oliveira, JoséMarques, FranciscoGuedes, MagnoRUNCorvo, João Nuno Salvador Rodrigues2023-05-26T08:49:47Z2022-122022-12-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttp://hdl.handle.net/10362/153181enginfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-03-11T05:35:46Zoai:run.unl.pt:10362/153181Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T03:55:12.376559Repositório 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 Behavior based autonomous mobile Robot for industrial logistics
title Behavior based autonomous mobile Robot for industrial logistics
spellingShingle Behavior based autonomous mobile Robot for industrial logistics
Corvo, João Nuno Salvador Rodrigues
autonomous mobile robots
behavior trees
industry 4.0
autonomous navigation
path planning
ROS
Domínio/Área Científica::Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática
title_short Behavior based autonomous mobile Robot for industrial logistics
title_full Behavior based autonomous mobile Robot for industrial logistics
title_fullStr Behavior based autonomous mobile Robot for industrial logistics
title_full_unstemmed Behavior based autonomous mobile Robot for industrial logistics
title_sort Behavior based autonomous mobile Robot for industrial logistics
author Corvo, João Nuno Salvador Rodrigues
author_facet Corvo, João Nuno Salvador Rodrigues
author_role author
dc.contributor.none.fl_str_mv Oliveira, José
Marques, Francisco
Guedes, Magno
RUN
dc.contributor.author.fl_str_mv Corvo, João Nuno Salvador Rodrigues
dc.subject.por.fl_str_mv autonomous mobile robots
behavior trees
industry 4.0
autonomous navigation
path planning
ROS
Domínio/Área Científica::Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática
topic autonomous mobile robots
behavior trees
industry 4.0
autonomous navigation
path planning
ROS
Domínio/Área Científica::Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática
description The design of robot behaviors to meet the requirements of the new industrial era - Industry 4.0 - has grown significantly in recent years. Especially the demand for flexible and adaptable systems has increased exponentially since intelligent robots started to be integrated into assembly lines and replace human activities. Tools such as Finite State Machines have proven to be an understandable and quick way to solve high-level problems in robotics; however, unmanageable when complexity rises. They become confusing and unreadable, making their modification and mainte- nance a problem. New tools, such as Behavior Trees, have emerged, creating modular, flexible, and adaptable systems without sacrificing readability with the increased com- plexity. The proposed architecture follows a hierarchical layered approach taking advantage of Behavior Trees, developing modular robot skills and system interfaces to create an autonomous behavior-based system. The software was implemented and tested in an Autonomous Mobile Robot capable of navigating complex environments and executing basic tasks. The results showed real advantages in using the layer-based approach, particularly giving the system modularity and increased flexibility capable of being easily improved and used in other systems. It was also concluded that Behavior Trees are an adequate tool for reactive systems in highly dynamic environments.
publishDate 2022
dc.date.none.fl_str_mv 2022-12
2022-12-01T00:00:00Z
2023-05-26T08:49:47Z
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/10362/153181
url http://hdl.handle.net/10362/153181
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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