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Multi-robot System for Collaborative Work Equipped with Trajectory Planning over IoT Architecture

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Advances in Automation and Robotics Research (LACAR 2021)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 347))

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Abstract

This paper shows the design and construction of a mobile multi-robot system for collaborative applications. By using accessible elements in the local market, the researchers built three omnidirectional mobile robots. The multi-robot system has centralized control and is managed by a central Broker with ROS implementation for local communication and IoT, through MQTT protocol, for monitoring and control from the cloud. The multi-robot systems implement the classification of objects by color. The use of artificial vision for recognizing objects, obstacles, and the location of the robots within a controlled environment allows for efficient correction of errors during their operation. The Potential Fields and A* method determine the generation of routes, and a simple planning algorithm determines the mobilization of the multi-robot system when fulfilling a classification task. The results showed an error of less than 5% in both the route tracking and its final objective in various mobility test circumstances. The final product of the research is a modular, scalable, easily controlled, with ease of manufacturing and replicability prototype, along with software to control and monitor the system with the use of machine vision.

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Authors and Affiliations

  1. Departamento de Ciencias de la Energía y Mecánica, Universidad de Las Fuerzas Armadas ESPE, Ave. El Progreso S/N, Sangolquí, 171103, Pichincha, Ecuador

    Gabriel Guerra, Luis Allauca, Luis Escobar & Xavier Sánchez-Sánchez

  2. School of Engineering and Sciences, Tecnologico de Monterrey, 64849, Monterrey, Mexico

    Santiago D. Puma-Araujo & Ricardo A. Ramirez-Mendoza

Authors
  1. Gabriel Guerra
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  2. Luis Allauca
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  3. Luis Escobar
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  4. Xavier Sánchez-Sánchez
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  5. Santiago D. Puma-Araujo
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  6. Ricardo A. Ramirez-Mendoza
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Corresponding author

Correspondence to Santiago D. Puma-Araujo .

Editor information

Editors and Affiliations

  1. Universidad Autónoma de Coahuila, Monclova, Coahuila, Mexico

    Héctor A. Moreno

  2. Universidad Autónoma de Coahuila, Monclova, Coahuila, Mexico

    Isela G. Carrera

  3. Tecnológico de Monterrey, Monterrey, Nuevo León, Mexico

    Ricardo A. Ramírez-Mendoza

  4. Texas A&M University – Corpus Christi, Corpus Christi, TX, USA

    José Baca

  5. Universidad Tecnológica de Panamá, Panamá, Panama

    Ilka A. Banfield

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Guerra, G., Allauca, L., Escobar, L., Sánchez-Sánchez, X., Puma-Araujo, S.D., Ramirez-Mendoza, R.A. (2022). Multi-robot System for Collaborative Work Equipped with Trajectory Planning over IoT Architecture. In: Moreno, H.A., Carrera, I.G., Ramírez-Mendoza, R.A., Baca, J., Banfield, I.A. (eds) Advances in Automation and Robotics Research. LACAR 2021. Lecture Notes in Networks and Systems, vol 347. Springer, Cham. https://doi.org/10.1007/978-3-030-90033-5_24

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