Development of a Position and Control System for an Omnidirectional Platform Using Vision, LIDAR and Line Following Technologies

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Over the last few years, assembly lines have started to innovate to support flexible and reconfigurable**configurations and processes. One of such innovations is the use of mobile platforms to move very large and**heavy payloads. Omnidirectional motion (the ability to move in all direction without changing orientation)**becomes greatly beneficial in such context, facilitating movement in cluttered environments and for positioning**itself next to a processing station a table or a counter. One challenge is to design a platform that provides such**capabilities while still have low height, and Inogec inc. has come up with a new omnidirectional mechanism**for doing so. What is missing is to make the platform move autonomously in industrial settings. Having**developed and program omnidirectional autonomous platforms, IntRoLab, the Intelligent, Interactive,**Integrated and Interdisciplinary Robot Lab Systems of the Université de Sherbrooke, have the expertise to**design and implement the required navigation capabilities. The plan is to integrate vision and LIDAR**proximity detection and mapping capabilities with line-following on Inogec omnidirectional platform, and**demonstrate its navigation capabilities for moving in various conditions. The project involves A) conducting a**survey of industrial-grade sensing and processing systems, allowing to implement customized software on the**platform, B) integrating the sensing and processing systems on the platform, C) implementing simulatenous**localization and mapping (SLAM) using IntRoLab's RTAB-Map library, and D) demonstrating path planning**capabilities of the overall system. The objective is to have a platform move from one point to another and**obstacle avoidance. This will result in a first autonomous omnidirectional transport platform for high payload**and low profile to be used in industrial settings. It will constitute a great experimental and developmental base**on which to add more intelligent capabilities, from advanced teleoperation to traffic management of a fleet of**platforms.