Orchestration of Automated Guided Mobile Robots for Transportation Task in a Warehouse like Environment

Abstract

The paper presents a model for Automated Guided Vehicle (AGV) like mobile Robots (RBs). The model is based on our Orchestrated approach. RB uses this model to perform a transportation task in environments such as a warehouse or a factory. The RB utilises D* Lite algorithm for path trajectory generation and implements our proposed modified extended navigation (ENG) algorithm to follow the path trajectory. Additionally, ENG algorithm helps RBs to avoid collisions during transportation between start and end point. We have improved the efficiency, consistency and capability of ENG algorithm by adding new method. The RB employs sensor data-fusion technique. The technique helps in reducing the position error during transportation. Our algorithm also helps the RBs to avoid the deadlock situation and make the model fault-tolerant. The performance of model has been validated with the help of new experiments. The Orchestration of Robotic Platform (ORP) with four robots is used to perform the experiments.