Diseño de prototipo de robot móvil autónomo para logística industrial localizado mediante marcadores fiduciales

Abstract

In multibrand retail logistics centers, the low adoption of automation limits efficiency and increases operating costs. Typical automation solutions with mobile robots present limitations, as they are often inflexible or lose localization. In response to this problem, the objective of this work is to design a prototype of an autonomous mobile robot that uses fiducial markers as a localization system. The hypothesis states that the use of markers improves global position estimation and prevents the robot from losing its location. The development of the project involved the evaluation of mechanical, electrical, and software design alternatives, selecting a modular architecture with differential drive. A kinematic model was built, planning (A*) and control (PID) algorithms were implemented in ROS 2 Humble, and the system was validated in simulated environments with Gazebo Ignition and in a physical prototype. The results showed 100% compliance in simulated trajectories, latency below 40 ms in physical tests, and a positional error of less than 1 cm. It is concluded that the integration of ArUco markers with planning and control algorithms constitutes an effective and replicable solution for autonomous navigation in industrial environments. Keywords: Mobile Robotics, ArUco, Ros 2, Autonomous Navigation