ARMM

The ARMM client application is a text based software which runs in a Linux console. The following features are available:

• 1. It automatically connects with the ARMM server in order to gather all goals available in the environment map. 

  2. These goals can be selected as potential pick/deliver places by users.

  3. All connected users can observe all the pick/deliver places.

  4. At the bottom, the ARMM client application shows the path planner status and the current goal.

  5. The former shows if the ARMM server is planning a new route or the mobile robot is going to goal.

  6. The current goal status shows whether the robot arrived to goal, or if it is waiting for user dismiss.

It is worth noting that ARMM server can support multiple users, and the mobile robot is able to respond to all pick/delivery task requested by them.

Two main steps are needed to setting up ARMM into a new environment. First, the mapping phase, which finale result is a map of the working environment. In this work, this map was previously computed using the Logger and Mapper3 applications of MobileRobots Inc. The main sensor used to compute the environment map was 2D Laser Range Finder (SICK LMS200). The following video shows how this phase was performed at the second floor of 353 and 354 buildings, at the Engineering Electrical and Electronics School of the Universidad del Valle:

Second, the operation phase, where the mobile robot computes a path considering multiple goals for picking/delivering; the following video shows this phase considering multiple goals at the second floor of the 353 and 354 buildings, at the Engineering Electrical and Electronics School of the Universidad del Valle: