Layered Cost-Map-Based Traffic Management for Multiple Automated Mobile Robots via a Data Distribution Service

TL;DR

This paper introduces a layered cost map approach for managing traffic among multiple automated mobile robots using a data distribution service, enabling flexible, real-time control and coordination.

Contribution

It presents a novel layered cost map framework with filters and sharing mechanisms, validated through real-world experiments for multi-robot traffic management.

Findings

Effective traffic management with layered cost maps demonstrated in real-world tests.

Flexible configuration of areas using images or text parameters.

New filters enable prohibition, lane control, and region exclusivity.

Abstract

This letter proposes traffic management for multiple automated mobile robots (AMRs) based on a layered cost map. Multiple AMRs communicate via a data distribution service (DDS), which is shared by topics in the same DDS domain. The cost of each layer is manipulated by topics. The traffic management server in the domain sends or receives topics to each of AMRs. Using the layered cost map, the new concept of prohibition filter, lane filter, fleet layer, and region filter are proposed and implemented. The prohibition filter can help a user set an area that would prohibit an AMR from trespassing. The lane filter can help set one-way directions based on an angle image. The fleet layer can help AMRs share their locations via the traffic management server. The region filter requests for or receives an exclusive area, which can be occupied by only one AMR, from the traffic management server. All the layers are experimentally validated with real-world AMRs. Each area can be configured with user-defined images or text-based parameter files.