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Autonomous mobile robots for recycling metal shaving at CNC factories

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Abstract

The aim of this study is to develop an autonomous mobile robot (AMR) for our demonstration factory, incorporating Google’s Cartographer algorithm with the linear quadratic Gaussian (LQG) control model and providing safe navigation with obstacle avoidance for the delivery of recycling metal shaving (RMS) with the help of this Cartographer-LQG method. The originality of this study is that we have integrated Google’s Cartographer algorithm with the LQG model and improved the accuracy and stability of our AMR-RMS. This method offers users a reliable method for calibrating their mobile robots and constructs a grid map with loop-closure to automate navigation. The suggested approach increases the stability of the electro-mechanical modules and lowers the cumulative error of simultaneous localization and map** (SLAM). This study has compared the SLAM results from Gmap**, Hector, and Cartographer algorithms, suggesting that the Cartographer-LQG method can provide a map with loop closure and accurate information for autopiloting the AMR-RMS.

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Data availability

Availability of data and material shared on the link until 12/31/2024: https://www.dropbox.com/sh/d09apzfct5kblis/AABr0MNSaErmCWTaiI6IHm8Ua

Funding

The authors received financial support for this research from the Ministry of Science and Technology (Republic of China) under Grant MOST 111-2221-E-027-124-MY2 and NSTC 111-2622-E-027-016.

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Authors and Affiliations

  1. Department of Mechanical Engineering, National Taipei University of Technology, Taipei, 10617, Taiwan, ROC

    Ching-Yuan Chang, Chi-Lun Wu, Jun-Ming Cheng & Siao-Jhu Jian

Authors
  1. Ching-Yuan Chang
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  2. Chi-Lun Wu
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  3. Jun-Ming Cheng
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  4. Siao-Jhu Jian
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Contributions

Ching-Yuan Chang contributes to the mathematical model. Chi-Lun Wu contributes to the experimental setup. Jun-Ming Cheng contributes to the data collection. Siao-Jhu Jian contributes to the data collection data analysis.

Corresponding author

Correspondence to Ching-Yuan Chang.

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The grant’s policy encourages researchers to broaden industrial automation applications and to publish the latest research in a reputable journal. It is a novel contribution to the scientific literature that has not been published elsewhere or simultaneously in whole or part.

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The authors declare no competing interests

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Chang, CY., Wu, CL., Cheng, JM. et al. Autonomous mobile robots for recycling metal shaving at CNC factories. Int J Adv Manuf Technol 126, 2205–2218 (2023). https://doi.org/10.1007/s00170-023-11284-6

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  • DOI: https://doi.org/10.1007/s00170-023-11284-6

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