Planejamento de trajetória robótica baseado em relevo oceânico

Abstract

Order picking is one of the processes that has motivated the research increase in the field of logistics. Robotics can help reduce the operational cost of such a process, one of the biggest in the warehouse, in a way that the human operator can avoid moving around the warehouse to collect the products, and instead these products are moved from their storage positions to the static order assembly station with robots help. Among the most prominent techniques applied in robotics path planning, we can mention the potential fields and the A* algorithm. This paper aims to demonstrate a new approach, based on the behavior of ocean relief, for mapping an environment that simulates a logistics warehouse and comparing it with the paths calculated from the most frequently used algorithms, taking into account the distance, security, and efficiency of the proposed trajectory. At first, a theoretical review of the main algorithms involved is presented. Next, the components of the system (ROS, RabbitMQ, Coppelia) are introduced and their use is justified. After that, the proposed algorithm is detailed and the methodology of comparison with A* and Potential Fields is detailed. Finally, the results are presented, showing good numbers of safety and precision in the calculated routes, even when subjected to sensor imprecision, in addition to mitigating some of the problems of reference algorithms cited.