Introducing autonomous aerial robots in industrial manufacturing
|Pérez Grau, Francisco Javier
Martínez de Dios, José Ramiro
López Paneque, Julio José
Acevedo Báñez, José Joaquín
Torres González, Arturo Eugenio
Astorga, Juan R.
Ollero Baturone, Aníbal
|Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática
|Although ground robots have been successfully used for many years in manufacturing, the capability of aerial
robots to agilely navigate in the often sparse and static upper part of factories makes them suitable for ...
Although ground robots have been successfully used for many years in manufacturing, the capability of aerial robots to agilely navigate in the often sparse and static upper part of factories makes them suitable for performing tasks of interest in many industrial sectors. This paper presents the design, development, and validation of a fully autonomous aerial robotic system for manufacturing industries. It includes modules for accurate pose estimation without using a Global Navigation Satellite System (GNSS), autonomous navigation, radio-based localization, and obstacle avoidance, among others, providing a fully onboard solution capable of autonomously performing complex tasks in dynamic indoor environments in which all necessary sensors, electronics, and processing are on the robot. It was developed to fulfill two use cases relevant in many industries: light object logistics and missing tool search. The presented robotic system, functionalities, and use cases have been extensively validated with Technology Readiness Level 7 (TRL-7) in the Centro Bahía de C´ adiz (CBC) Airbus D&S factory in fully working conditions.
|Pérez Grau, F.J., Martínez de Dios, J.R., Paneque, J.L., Acevedo Báñez, J.J., Torres González, A.E., Viguria, A.,...,Ollero Baturone, A. (2021). Introducing autonomous aerial robots in industrial manufacturing. Journal of Manufacturing Systems, 60, 312-324.