RFID-based warehouse management system prototyping using a heterogeneous team of robots
Artur Khazetdinov, А С Александров, Aufar Zakiev, Evgeni Magid, Kuo-Hsien Hsia, F Gurin, F Guinand, J.-F Breth, H Pelvillain, A Saveliev, M Uzdiaev, M Dmitrii, B Abbyasov, R Lavrenov, A Zakiev, K Yakovlev, M Svinin, E Magid, Y Bai, K Asami, M Svinin, I Moskvin, R Lavrenov, F Rodriguez-Telles, L Mendez, E Garcia, R Lavrenov, A Zakiev, E Magid, H Cho, D Kim, J Park, K Roh, W Hwang, A Zakiev, K Shabalina, T Tsoy, E Magid, Y Ma, N Selby, F Adib, J Ong, A Sanchez, J Williams, A Zakiev, T Tsoy, E Magid, K Yakovlev, V Khithov, M Loginov, A Petrov, S Bae, K Han, C Cha, H Lee, S Weis, A Medeisis, A Kajackas, N Simakov, R Lavrenov, A Zakiev, R Safin, E Martnez-Garca, N Koenig, A Howard, A Yatsun, B Lushnikov, O Emelyanova, P Wang, Z Chen, Q Zhang, J Sun, M Sani, A Pashkin, R Lavrenov, A Zakiev, M Svinin
Abstract
Robotic warehouse management is a promising field of research with a high practical applicability. Typically, warehouses are strictly organized and controlled environments with a high potential for rapid robot deployments. To provide system robustness every robotic deployment should be tested in advance using simulations. Such virtual testing environment should correspond well with a real world warehouse environment and be consistent with international and national standards. In this paper, we present a warehouse Gazebo simulation that was constructed in accordance with Government Standards of Russian Federation and international standards. We implemented a simplified Radio Frequency IDentification (RFID) transmitter-receiver mechanism within the Gazebo simulator and tested it in a virtual warehouse environment using a heterogeneous team of TIAGo Base mobile robot and PX4-based UAV. Our constructed virtual warehouse environment and RFID mechanism models are open-source for academic community use.