Algorithm for Replacing the Battery of a Robotic Tool Using Servicing Mobile Robots on Inhomogeneous Surfaces

• Published in: Interactive Collaborative Robotics Vol. 13719; pp. 269 - 283
• Main Authors: Kozyr, Polina, Vasunina, Yuliya, Saveliev, Anton
• Format: Book Chapter
• Language: English
• Published: Switzerland Springer International Publishing AG 2022; Springer International Publishing
• Series: Lecture Notes in Computer Science
• Subjects: ArUco Markers; Battery Replacement; LiDAR; Mobile Robots; Positioning
• ISBN: 9783031236082; 3031236084
• ISSN: 0302-9743; 1611-3349
• DOI: 10.1007/978-3-031-23609-9_24

The paper proposes an algorithm for replacing the battery of a robotic tool (RT) by a group of servicing mobile robots (SMR), which includes: positioning the SMR under the battery compartment of the RT; removal of the discharged and installation of a charged battery. For the positioning of the SMR, data from the LiDAR are used, on the basis of which the RT wheels are clustered and the set of necessary offsets for positioning is determined. Then positioning is carried out according to ArUco markers, images of which the system receives using cameras. After that, according to the data from the MEMS sensor, the platform is leveled in a horizontal plane, when positioning on an inhomogeneous surface. The proposed algorithm was implemented using ROS (Robotic Operating System) and tested in the Gazebo simulator. As a result of the experiments, mobile robots successfully removed and installed a battery, the average battery replacement time based on the developed algorithm on a homogeneous surface was 4 min 8 s, on a non-uniform surface 6 min 4 s. The advantage of the developed solution is the completely autonomous replacement of the battery, which reduces the idle time of the RT.