Development of ROS2-based Multi-Robot Simulation for AGVs in Factory-Like Environment

DOI

説明

Automated Guided Vehicles (AGV) are commonly used for monotonous processes such as materials transportation and sorting. To ensure the efficiency and effectiveness of such a system, multiple robots e required to work under the same environment. A fleet management system is tasked to manage the robots to maximize the efficiency of the system. Therefore, a simulation world that can investigate the performance of the fleet management algorithm is crucial. Most of the multi-robot simulations in ROS2 (Robot Operating System 2) did not simulate the whole physical robot and this may affect the simulation results generated. This paper documents the development of ROS2-based multi-robot simulation using Gazebo. Each AGV is simulated equivalent to its l-world counterpart, equipped with all the sensors and navigation stack. Under the completed Gazebo simulation, each AGVs is spawned separately with their namespace. A fleet server, free_fleet from Open-RMF is used to pass commands from fleet management server to respective AGV within the multi-robot system. This paper aims to develop a more realistic ROS2 based Gazebo simulation for multirobot system that working in a factory-like environment.

収録刊行物

  • IEICE Proceeding Series

    IEICE Proceeding Series 69 85-90, 2022-09-15

    The Institute of Electronics, Information and Communication Engineers

詳細情報 詳細情報について

  • CRID
    1390856893061838464
  • DOI
    10.34385/proc.69.ss2-5
  • ISSN
    21885079
  • 本文言語コード
    en
  • データソース種別
    • JaLC
  • 抄録ライセンスフラグ
    使用不可

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