Software Framework of Autonomous Mobile Robots on Isaac Sim and ROS

摘要

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.