MART: an overview of the Mobile Autonomous Robot Twente project

Abstract

At the University of Twente a mobile autonomous robot system is built that is designed to operate in a 'factory of the future'. Multiple robots, consisting of a manipulator on top of a vehicle, will drive through an assembly hall to collect components at part supply stations and to assemble (different) products while the vehicle is driving. An overview is given of many design and implementation aspects such as: the mechanical construction of the mobile robot and the part supply station, control of the mobile robot, sensor systems for navigation and calibration, task planning, traffic planning and safe and reliable behavior. The current state of the project is described including the computer hardware and software necessary to realize the system.