基於ROS2之5G智慧工廠AMR系統開發

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姓名

陳龍彬(Lung-Bin Chen) 查詢紙本館藏

畢業系所

機械工程學系

論文名稱

基於ROS2之5G智慧工廠AMR系統開發
(Development of a 5G-Based AMR System for Smart Factories using ROS2)

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摘要(中)

面對工廠中建置有線網路困難或無線通訊延遲帶來的自動化產線效益不佳的問題，以及因人力缺乏和需求轉變而對物流、檢測和技術服務升級的迫切需求，工廠從現行的人工、自動化作業邁向「智慧工廠」成為必然趨勢。
本論文目標是建立更加有效率且靈活的AMR系統，透過導入5G企業專網以及資料分散式服務（DDS），使機台和機器人進行自主運作，同時實現平行溝通，確保資訊能夠高效地在系統中流通。並採用ROS2和Navigation2的架構建立整體AMR之導航系統，完成AMR於智慧工廠中的路徑規劃以及避障功能，這將有助於加強AMR的協調能力，同時優化機台產線的運作。本研究不僅有助於克服通訊延遲和效能不佳的問題，還能滿足現代工廠對於即時性、效率性和智能化的迫切需求。希望透過這項研究，能提升AMR在智慧製造中的效能和應用價值，並推動製造業的進一步智能化。

摘要(英)

Facing the challenges of difficult wired network installation and inadequate benefits from automated production lines due to wireless communication delays, as well as the urgent need for upgrades in logistics, inspection, and technical services due to labor shortages and changing demands, the transition from current manual and automated operations to "smart factories" has become an inevitable trend in the manufacturing industry.
The objective of this paper is to establish a more efficient and flexible Autonomous Mobile Robot (AMR) system. This is achieved by incorporating 5G enterprise networks and Data Distribution Service (DDS) to enable autonomous operation of machinery and robots, facilitating parallel communication to ensure efficient information flow within the system. Leveraging the ROS2 and Navigation2 frameworks, the paper constructs a comprehensive navigation system for AMRs, accomplishing path planning and obstacle avoidance functions within smart factories. This initiative enhances AMR′s coordination capabilities and optimizes machine line operations. The study not only addresses communication delay and performance issues but also meets the pressing modern factory requirements for real-time capabilities, efficiency, and intelligence. Through this research, it is anticipated that AMR′s efficiency and application value within smart manufacturing will be elevated, further driving the intelligence evolution of the manufacturing sector.

關鍵字(中)

★ 機器人
★ 自主移動機器人
★ 機器人作業系統

關鍵字(英)

★ Robot
★ AMR
★ ROS2

論文目次

摘要 i
Abstract ii
誌謝 iii
目錄 iv
圖目錄 vi
表目錄 ix
一、緒論 1
1-1 研究動機與目的 1
1-2 文獻回顧 2
1-3 論文架構 5
二、 5G通訊與ROS2系統架構 6
2-1 5G通訊 6
2-1-1 5G通訊三大特色 6
2-1-2 5G在智慧工廠的應用 8
2-2 ROS2系統架構 9
2-2-1 ROS2與ROS1差異 9
2-2-2 ROS2特性 10
2-2-3 ROS2主要架構元素 11
三、 AMR系統及其核心技術 14
3-1 AMR系統 14
3-1-1 AMR組成 14
3-1-2 AMR的運動學模型 15
3-1-3 ROS2在AMR系統開發中的應用 17
3-2 AMR關鍵技術 17
3-2-1 SLAM 18
3-2-2 AMCL 22
3-2-3 Navigation 23
四、實驗方法與結果 42
4-1 實驗設備 42
4-2 實驗流程 46
4-2-1 模擬環境建置與測試 46
4-2-2 實際環境測試 52
4-3 實驗結果 57
五、結論與未來展望 61
5-1 結論 61
5-2 未來展望 62
六、參考文獻 63

參考文獻

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[12] MACENSKI, Steve; JAMBRECIC, Ivona. SLAM Toolbox: SLAM for the dynamic world. Journal of Open Source Software, 6.61: 2783, 2021.
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指導教授

董必正(Pi-Cheng Tung)

審核日期

2023-8-17

推文