Autonomous Mobile Robots

amr_testbed_v1

AMR


System Architecture

AMR System Architecture

Below are relevant packages of the system:

  • Global Planner (ddg_multi_robot_planner): Conflict-Based-Search (CBS) based ROS2 planner. It uses CBSH2-RTC mapf planner developed by Prof. Jiaoyang Li

  • Mission Control (robot_mission_control): It launches a node to handle multiple AMRs and their higher-level commands

  • Motion Servers (robot_motion_server): ROS2 action servers and client onboard robot to give navigation commands. There is a node for both navigation and docking/undocking

  • Low Level Packages (neo_*): These packages are originally provided by the manufacturer, Neobotix, and handle local navigation, localization and motion.

Simulation Environment

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Integration with MES

Other Resources

https://mrsd-project.herokuapp.com/ https://mrsdprojects.ri.cmu.edu/2023teamh/