Control of Multiple Mobile Robots Based on Data Fusion from Proprioceptive and Actuated Exteroceptive Onboard Sensors

Arpit Joon; Wojciech Kowalczyk; Przemysław Herman

doi:10.3390/electronics14040776

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Title

Control of Multiple Mobile Robots Based on Data Fusion from Proprioceptive and Actuated Exteroceptive Onboard Sensors

Authors

Arpit Joon (WARiE) ^{[ 1 ][ 2.2 ][ SzD ]}
Wojciech Kowalczyk (WARiE) ^{[ 2 ][ 2.2 ][ P ]}
Przemysław Herman (WARiE) ^{[ 2 ][ 2.2 ][ P ]}

^{[ 1 ]} Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | ^{[ 2 ]} Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | ^{[ SzD ]} doctoral school student | ^{[ P ]} employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics, electrical engineering and space technologies

Year of publication

2025

Published in

Electronics

Journal year: 2025 | Journal volume: vol. 14 | Journal number: iss. 4

Article type

scientific article

Publication language

english

Keywords

EN

autonomous robots
multi-agent systems
fiducial marker
extended Kalman filter
3D printing
ROS
landmarks
behavior tree
trajectory tracking
collision avoidance

Abstract

EN This paper introduces a team of Automated Guided Vehicles (AGVs) equipped with open-source, perception-enhancing rotating devices. Each device has a set of ArUco markers, employed to compute the relative pose of other AGVs. These markers also serve as landmarks, delineating a path for the robots to follow. The authors combined various control methodologies to track the ArUco markers on another rotating device mounted on the AGVs. Behavior trees are implemented to facilitate task-switching or to respond to sudden disturbances, such as environmental obstacles. The Robot Operating System (ROS) is installed on the AGVs to manage high-level controls. The efficacy of the proposed solution is confirmed through a real experiment. This research contributes to the advancement of AGV technology and its potential applications in various fields for example in a warehouse with a restricted and known environment where AGVs can transport goods while avoiding other AGVs in the same environment.

Pages (from - to)

776-1 - 776-21

DOI

10.3390/electronics14040776

URL

https://www.mdpi.com/2079-9292/14/4/776

License type

CC BY (attribution alone)

Open Access Mode

open journal

Open Access Text Version

final published version