Real-Time Motion Control of an Electric Driven OMR using a ROS to Matlab Bridged Approach

Abstract

The ability to remotely monitor and track the location of autonomous mobile robots assures more control to the logistics companies, which guarantees the supply chain management is more efficient and secure. Therefore, many efforts and studies are focused on providing information about the current and past position of systems involved in the logistics chain, through the use of sensors and GPS-like systems. In recent years, Omnidirectional Mobile Robots are increasingly involved in complex industrial environments due to their navigation capabilities for complex trajectory planning together with task assignments.This paper presents an evaluation study of integrated development for an Omnidirectional Mobile Robot that is designed to serve in a dynamic logistic environment using Marvelmind Indoor Positioning System. The overall supervised system can be efficiently developed using Robot Operating System nodes, the path planning nodes benefiting from using Matlab-Simulink. This paper relates the work-in-progress of a real omnidirectional mobile robots (OMRs) platform subject to indoor localization with Marvelmind IPS network. This study emphasizes the need for consistent data taken from the sensors placed on the robot, the validation being a very important step for accurate robot localization.