Safety Solution Implementation for an Omnidirectional Autonomous Mobile Robot used in Logistics Systems

摘要

This paper aims to describe the development of a safety solution for an omnidirectional autonomous mobile robot actuated by permanent magnet synchronous machines drives that performs numerous tasks in logistics environments. This is done with specific equipment that ensures a level of safety integrity of type SIL2 or SIL3 according to the IEC 61508 standard, which certifies certain parameters such as probability of dangerous failure on request, risk reduction factor and hourly probability of hazardous malfunctions. The safety system implemented in autonomous mobile robot is a mix between hardware components(locomotion system, perception system, and decision controllers) and software components that use the information from the perception system to generate commands for the locomotion system.