System for localization and navigation of autonomous robots
Description
The system is a cyber-physical stack for autonomous patrolling of industrial sites using ground robots, combining global and local perception to enable reliable operation in dynamic environments. The main computing unit is an 11th-generation Intel NUC with dual Ethernet interfaces, allowing sensor separation into independent networks and high-bandwidth data streaming. Navigation and obstacle perception rely on dual 128-channel Ouster LiDARs (OS0 and OS-Dome), complemented by a multi-constellation GNSS receiver with dual antennas for precise and redundant localization. High-resolution Basler RGB cameras support object detection and classification, while a Robustel RB5020 5G modem provides low-latency, high-throughput communication with the control center for real-time data and video transmission.
Patrol Stack for Ground Robots
A stack for autonomous patrol of an industrial site using ground robots is a cyber-physical system that combines global and local perception of the environment to ensure autonomous operation of robots in a dynamic environment.
The deployment of the system can be divided into two phases: a preparatory phase and an operational phase. In the preparatory phase, the system is used to create a map of the site with annotated traversability. Based on this map, inspection routes are then generated automatically. In the operational phase, these routes are used for autonomous navigation of the robots within the site, while the robot continuously updates a local 3D model based on sensor data and adapts its route to the current conditions in the environment.
Preparatory Phase: Offline Patrol Preparation
Preparation of the Floor Plan Map of the Inspection Area
In the preparatory phase, a **3D point cloud** of the inspection area is first created, for example using a LiDAR sensor mounted on a ground robot or a total station. The point cloud is projected onto a **floor plan map**, where an operator manually annotates the areas in which the robot is allowed to move and where it is required to perform inspection.