Endüstriyel Otonom Mobil Robotların Hassas Hizalanması İçin Çok Aşamalı 2B LiDAR Tabanlı Reaktif Yanaşma Çerçevesi

Abstract

Otonom mobil robotların (AMR’lerin) şarj üniteleri, yükleme istasyonları ve park alanları gibi farklı endüstriyel hedeflere güvenilir biçimde yanaşması, dar mekanik toleranslar, sensör gürültüsü, yansıtıcı yüzeyler ve son yaklaşım sırasında yönelim hatalarının etkisinin büyümesi nedeniyle hâlâ önemli bir problemdir. Bu çalışmada, pasif U-şekilli mekanik kılavuz yapı ile desteklenen, 2B LiDAR tabanlı çok aşamalı reaktif bir yanaşma çerçevesi sunulmaktadır. Önerilen yaklaşım, sabit açılı lazer ışını örnekleme, dinamik indeks kompanzasyonu, mesafe temelli durum geçişleri ve bir kurtarma stratejisini bir araya getirerek, görsel işaretleyicilere veya yoğun nokta bulutu eşleştirmeye ihtiyaç duymadan tekrarlanabilir son hizalama sağlamaktadır. Uygulanan sistemde, yanaşma algısı ve yakın alan güvenlik izlemesi için öne yerleştirilmiş, güvenlik sertifikalı tek bir 2B LiDAR sensörü kullanılmıştır. Yanaşma süreci, hem normal çalışma koşullarını hem de kurtarma performansını değerlendirebilmek amacıyla nominal ve bozulmuş başlangıç pozu koşulları altında incelenmiştir. Üç farklı istasyon tipinde gerçekleştirilen toplam 240 yanaşma denemesinden elde edilen sonuçlar, yüksek görev başarısı, santimetre düzeyinde son hizalama doğruluğu ve düşük hesaplama yükü ortaya koymuştur. Bu bulgular, önerilen donanım-yazılım ortak tasarımlı çerçevenin, endüstriyel AMR uygulamalarında hassas yanaşma için pratik ve hesaplama açısından verimli bir çözüm sunduğunu göstermektedir.

Keywords

• : Otonom mobil robot
• 2B LiDAR
• lazerle yanaşma (laser docking)
• çok aşamalı kontrol
• reaktif hizalama
• mesafe eşiği kontrolü
• endüstriyel robotik.

A Multi-Stage 2D LiDAR-Based Reactive Docking Framework for Precision Alignment of Industrial Autonomous Mobile Robots

Abstract

Reliable docking of autonomous mobile robots (AMRs) to heterogeneous industrial stations, including charging units, loading bays, and parking areas, remains a challenging problem because of tight mechanical tolerances, sensor noise, reflective surfaces, and the increasing effect of orientation errors during the final approach. This study presents a multi-stage reactive docking framework based on 2D LiDAR and supported by a passive U-shaped mechanical guide structure. The proposed approach combines fixed-angle laser ray sampling, dynamic index compensation, distance-based state transitions, and a recovery strategy to achieve repeatable terminal alignment without relying on visual fiducial markers or dense point-cloud registration. In the implemented system, a single front-mounted safety-rated 2D LiDAR sensor is used for docking perception and near-field safety monitoring. The docking process is evaluated under both nominal and degraded initial-pose conditions in order to assess normal operation as well as recovery performance. Experimental results obtained from 240 docking trials conducted across three station types show high task success, centimeter-level terminal alignment accuracy, and low computational burden. These findings suggest that the proposed hardware–software co-designed framework offers a practical and computationally efficient solution for precision docking in industrial AMR applications.

Keywords

• Autonomous mobile robot
• 2D LiDAR
• laser docking
• multi-stage control
• reactive alignment
• distance-threshold control
• industrial robotics.

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