Design and Development of an Autonomous Mobile Robot for Industrial Material Handling

Abstract

This methodology paper presents the design and development framework of an autonomous mobile robot (AMR) for indoor industrial material handling. The proposed system combines a differential-drive mobile base, a load-carrying platform, 2-D LiDAR, wheel encoders, an inertial measurement unit, short-range safety sensors, an embedded motion controller, and an onboard computer. The navigation architecture is organized into mapping and localization, global path planning, local obstacle avoidance, closed-loop motion control, docking, task execution, and safety supervision. The design intentionally moves beyond fixed-path automated guided vehicles (AGVs) by allowing the robot to localize and re-plan in a changing factory environment while retaining the operational discipline required in material transport. A step-by-step methodology is defined from requirement analysis and mechanical sizing to software integration and validation. Performance is assessed using path-tracking error, localization error, mission completion rate, obstacle-avoidance success, cycle time, path efficiency, and battery-related operating constraints. A simulation-based validation scenario indicates that the proposed architecture can maintain sub-decimeter localization and path-tracking accuracy under representative payloads while preserving a high mission completion rate. The approach is intended as a reproducible foundation for laboratory prototypes and later factory trials, with emphasis on modularity, safety, maintainability, and compatibility with industrial material-flow requirements.