Software Framework of Autonomous Mobile Robots on Isaac Sim and ROS

The purpose of this research is to address the increasing significance of autonomous mobile robots (AMR) in military applications. Several researchers have made significant investments in AMR development, recognizing the urgency of enhancing their capabilities in preparation for potential threats in...

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Bibliographic Details
Published in2023 11th International Conference on Control, Mechatronics and Automation (ICCMA) pp. 158 - 163
Main Authors Jiono, Mahfud, Lin, Hsien-I
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2023
Subjects
AMR robot
Isaac Sim simulation
Manipulators
Operating systems
Production facilities
Robot formation control
Robot vision systems
ROS framework
Sensor fusion
Software
Target tracking
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Summary:The purpose of this research is to address the increasing significance of autonomous mobile robots (AMR) in military applications. Several researchers have made significant investments in AMR development, recognizing the urgency of enhancing their capabilities in preparation for potential threats in factory environments. The research aims to integrate key technologies essential for polishing robots in the factory using Isaac Sim and the ROS framework. This includes the use of AI and sensor fusion technology for robot movement, as well as for detecting and tracking obstacles, target objects, and the formation control of the AMR itself. The outcomes of our experiments have been promising. We have effectively defined and executed a sequence of arm robot positions. The robots start from the initial position, proceed to the predetermined second point, and subsequently advance to the position goal point before returning to their starting point. Concerning mobile robot movement control, we have established target positions to demonstrate the robot's capabilities.
ISSN:2837-5149
DOI:10.1109/ICCMA59762.2023.10374780