Cloud-based autonomous robot management for indoor logistics activities

For the fourth industrial revolution based on the autonomous execution of processes in industrial production areas, a digitalization process has recently started under the title of "Industry 4.0". With this process, interest in cyber-physical systems that control and monitor intertwined and harmonious physical and digital factors is increasing significantly. Indoor material-product transportation, which is smooth and continuous, is vital for businesses with production-oriented cyber-physical systems. In this case, autonomous logistics systems come to the fore in order to make indoor logistics activities flexible, reliable, calculable and traceable. In indoor autonomous logistics, AGVs, which are industrial mobile logistics robots, are frequently used to transport products because of their advantages and ease of use. Since simultaneous multiple transportation is required in some enterprises, there is a need to use multiple AGVs in cooperation. In order to perform autonomous transportation in cooperation with multiple mobile robots, the following basic problems need to be solved: 1) Mapping and positioning, 2) Optimum path planning, 3) Multi-robot task allocation, 4) Real-time navigation, 5) Collision avoidance. The approaches in the solution methods produced for these basic problems directly affect the logistics quality. Within the scope of the thesis, a cloud-based autonomous multi-robot management system has been developed for indoor logistics in industrial enterprises. In the developed system, mapping, path planning, multi-robot collaboration and position tracking processes are located on the cloud server-side. The positioning system and real-time navigation on the optimum path plan are carried out by the control system on the robot. The thesis study was supported by the ÜSİP project, carried out in cooperation with Çalık Denim A.Ş. and İnönü University BAP unit, to be used in indoor logistics activities of fabric finishing businesses. The developed cloud-based autonomous multi-robot management system has an infrastructure that can be easily applied to industries with similar processes. This study has enlightening and guiding characteristics for researchers who conduct academic studies on the subject, as well as enterprises that want to strengthen their indoor logistics processes and improve their supply chain with autonomous systems.