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Autonomous Systems Non-intrusive localization, autonomous navigation and
accurate positioning of AGV’s for cooperative transportation
of heavy added value loads
Carlos Rizzo, [email protected]
https://eurecat.org/en/portfolio-items/geomove/Eurecat Technology Center
ERF 2018 - March 2018
Autonomous Systems 2
EURECAT
Eurecat is the leading Technology Centre in Catalonia, a result of the integration, in 2015, of Ascamm, Barcelona
Media, BDigital, Cetemmsa and CTM.
Autonomous Systems 3
Eurecat in numbers
Autonomous Systems 4
Eurecat research units
Autonomous SystemsAerial Robot for Sewer Inspection
Autonomous SystemsResearch Group
Applied-research on Autonomous Robots in
real use-cases
Ground and Aerial robotics
Field and Industrial Applications
Autonomous Systems 6
Research LinesAUTONOMOUS SYSTEMS
Localization• Multi-sensor robust localization
(IMU + vision + laser + GNSS)
• Simultaneous Localization andMapping (SLAM)
• Precise GNSS
Control• Motion control
• Auto Take-Off and Landingon mobile platforms
• AGV auto-docking and multi-AGV following
Heterogeneous multi-robot systems• Ground and aerial robots
cooperation• Communications• Task planning
Navigation• Specialized path planners• Collision avoidance• Infrastructure servoing: wall
tracking, vertical pipe tracking.• 3D flight planning based on
models or geometric shapes(helicoidal, etc)
Vision and Perception• Vision based navigation• 3D scene reconstruction• Victim detection• Image segmentation• Thermal, multispectral and
stereo imaging
Autonomous Systems 7
ApplicationsAUTONOMOUS SYSTEMS
Oil and Gas industry Electric towers, wind turbinesRailway networks monitoringTunnels, bridges and damns
Search and RescueBorder securityFirefightingTarget tracking
Automated Container management Autonomous AGVsCooperative transportation
Autonomous UGV for agricultural tasksPrecise agriculture through multi-robot cooperationVegetation analysis
Aerial photographyMapping and surveying 3D reconstructionSeismic, pollution and climate monitoring
3D reconstructionObject recognitionDamage inspectionSmart materials
Infrastructure InspectionSecurity and Emergency
Services Logistics
Agriculture Construction Cultural Heritage
Autonomous Systems 8
Ongoing projects - Drones
INSPECTIONDrones for inspection of severalindoor and outdoors infrastructure:• electric towers,• sewers,• bridges,• tunnels.
NATURE4CITIES• Nature based solutions for
re-naturing cities• Urban landscaping supported
by drones
COPILOT• Upgrades any commercial
Ready To Fly Multirotor to afully autonomous intelligentMAV.
ARSI• Semi-autonomous inspection
of sewer networks with aerialrobots
• Autonomous navigation andmapping
• Damage detection
BUILT2SPEC• 3D reconstruction with aerial
images for Construction Siteinspection and auditing
SMARTS• Inspection, monitoring and
analysis of Cultural Heritagematerials (objects andstructure surfaces) by meansof multi-analyticalapproaches based on a low-cost apparatus.
Autonomous Systems 9
Ongoing projects – Ground RobotsAUTONOMOUS SYSTEMS
LOGIMATIC• Tight integration of EGNSS and
on-board sensors for port vehicleautomation
• Modular GIS-based route andyard planning integrated withTerminal Operating Systems
GRAPE• (Semi)autonomous vineyard
monitoring and farming tasks,with Unmanned GroundVehicles (UGVs).
GEOMOVE• Two synchronized AGVs
(master/slave) for thecooperative transportation ofheavy, high-value loads in theaeronautic industry
• Sensor-based non-invasiveautonomous localization andnavigation
MAIC• Cooperative mobile manipulator• System composed by a highly
flexible robot arm and anomnidirectional AGV in theproduction line of our customerfrom the automotive industry.
BOTS2REC• Robots to reconstruction• Multi-robot units for asbestos
removal
Autonomous Systems 10
Ongoing projectsAUTONOMOUS SYSTEMS
https://eurecat.org/en/portfolio-items/geomove/
https://eurecat.org/en/portfolio-items/logimatic/
https://eurecat.org/en/portfolio-items/maic/
https://eurecat.org/en/portfolio-items/aerial-robot-for-sewer-inspection/
https://eurecat.org/es/portfolio-items/icarus/
https://eurecat.org/en/portfolio-items/grape/
https://eurecat.org/en/portfolio-items/nature4cities/
https://eurecat.org/en/portfolio-items/built2spec-2/
https://eurecat.org/en/portfolio-items/bots2rec/
Autonomous Systems 11
GEOMOVEAGVS IN SUPPORT/TOOLING OF AERONAUTIC INDUSTRY
Two synchronized AGVs (master+slave) for the cooperativetransport of heavy, high-value loads for the aeronauticindustry
Hardware: Aritex Software: EURECAT
Autonomous Systems 12
MOTIVATIONAGVS IN SUPPORT/TOOLING OF AERONAUTIC INDUSTRY
For a rigid structure transportation, the structure can slightlyguide/modify the robots navigation
Courtesy Giuseppe Loianno, UPENN Courtesy DTA
Autonomous Systems 13
MOTIVATIONAGVS IN SUPPORT/TOOLING OF AERONAUTIC INDUSTRY
For a fragile structure, a misalignment between robots candamage it
GEOMOVE!!!
Autonomous Systems 14
CHALLENGESAGVS IN SUPPORT/TOOLING OF AERONAUTIC INDUSTRY
• Localization without infrastructure modification
• Autonomous navigation with replanning capabilities
• “Wireless” cooperative transportation
• Below-the-centimeter relative positioning error
Courtesy AVT
Autonomous Systems 15
The AGVsAGVS IN SUPPORT/TOOLING OF AERONAUTIC INDUSTRY
MASTER AGVguides the movements
SLAVE AGVfollows the master
Autonomous Systems 16
The AGVsAGVS IN SUPPORT/TOOLING OF AERONAUTIC INDUSTRY
• Omnidirectional wheels for precise movements
Autonomous Systems 17
The AGVsAGVS IN SUPPORT/TOOLING OF AERONAUTIC INDUSTRY
Omnidirectional wheels for
precise movements
Safety laser range sensors for security stop, mapping
and navigation
IMU (inertial measurement unit)
for corrections
Autonomous Systems 18
Software architectureAGVS IN SUPPORT/TOOLING OF AERONAUTIC INDUSTRY
(C++, ROS – Robot Operating System)
Autonomous Systems 19
LOCALIZATIONAGVS IN SUPPORT/TOOLING OF AERONAUTIC INDUSTRY
• Map creation and update, Simultaneous Localization and Mapping (SLAM)module
• Multi-sensor robust localization (IMU + laser + odometry) withoutinfrastructure modification
Autonomous Systems 20
NAVIGATIONAGVS IN SUPPORT/TOOLING OF AERONAUTIC INDUSTRY
• Robot modelling and simulation
• Specialized path planners and motion control (Voronoi, Head-lock navigation)
• Autonomous navigation with collision avoidance and re-planning capabilities
Global Planner Local Planner
Autonomous Systems 21
TANDEM MODEAGVS IN SUPPORT/TOOLING OF AERONAUTIC INDUSTRY
• Reflective pattern for relative position detection
• ICP for transform estimation (reference and current position)
• Feedforward controller (master -> slave )
Autonomous Systems 22
TANDEM MODEAGVS IN SUPPORT/TOOLING OF AERONAUTIC INDUSTRY
• Reflective pattern for relative position detection
• ICP for transform estimation (reference and current position)
• Feedforward controller (master -> slave )
Autonomous Systems 23
TANDEM MODEAGVS IN SUPPORT/TOOLING OF AERONAUTIC INDUSTRY
Different points of rotation
Autonomous Systems 24
TANDEM MODEAGVS IN SUPPORT/TOOLING OF AERONAUTIC INDUSTRY
Proof of concept with EURECAT robots
Autonomous Systems 25
TANDEM MODEAGVS IN SUPPORT/TOOLING OF AERONAUTIC INDUSTRY
Final tests
Autonomous Systems 26
GEOMOVEAGVS IN SUPPORT/TOOLING OF AERONAUTIC INDUSTRY
Results:
• Mapping error below 5 cm (compared to floorplan)
• Mean absolute localization error below 7 cm (validated with optitrack)
• Navigation with obstacle avoidance and replanningcapabilities
• Mean relative positioning error (tandem mode) below 1 cm (validated with optitrack and wire encoders)
https://youtu.be/fzFW3hTubMs
Autonomous Systems 27
GEOMOVEAGVS IN SUPPORT/TOOLING OF AERONAUTIC INDUSTRY
Ongoing work:
• EURECAT’s graph SLAM
• Autonomous navigation in tandem mode (need for large space for validation)
Autonomous Systems Non-intrusive localization, autonomous navigation and
accurate positioning of AGV’s for cooperative transportation
of heavy added value loads
THANK YOU!
Carlos Rizzo, [email protected]
https://eurecat.org/en/portfolio-items/geomove/Eurecat Technology Center
ERF 2018 - March 2018
