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

在过去的几年里，装配线已经开始创新，以支持灵活和可重新配置的配置和流程。其中一项创新是使用移动平台来移动非常大而重的有效载荷。在这种情况下，全方位运动（在不改变方向的情况下向所有方向移动的能力）**变得非常有益，有助于在混乱的环境中移动，并将**自身定位在加工站，桌子或柜台旁边。一个挑战是设计一个平台，在提供这些功能的同时仍然具有较低的高度，Inogec公司已经提出了一个新的全方位机制来实现这一目标。目前缺少的是让该平台在工业环境中自主移动。IntRoLab是舍布鲁克大学的智能、交互、集成和跨学科机器人实验室系统，拥有开发和编程全方位自主平台的专业知识，可以设计和实现所需的导航功能。该计划是在Inogec全向平台上集成视觉和激光雷达近距离检测和地图功能，并演示其在各种条件下移动的导航能力。该项目包括A)对工业级传感和处理系统进行**调查，允许在**平台上实现定制软件，B)集成平台上的传感和处理系统，C)使用IntRoLab的RTAB-Map库实现同步**定位和绘图（SLAM）， D)演示整个系统的路径规划**能力。我们的目标是让平台从一个点移动到另一个点，并避开障碍物。这将导致首个高载荷、低姿态的自主全方位运输平台在工业环境中使用。它将构成一个巨大的实验和发展基地，在此基础上增加更多的智能功能，从先进的远程操作到车队的交通管理。

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.