# Survival 1.0: A Novel Autonomous Industrial Mobile Warehouse (AIMW) for Industrial Environments
## 3 Design of the First Autonomous Industrial Mobile Warehouse (AIMW)--Survival 1.0
### Choosing the Commercial Autonomous Mobile Robot (AMR)  
After a first estimate, it was considered that the weight that the AMR was going to support, including the weight of the material and the warehouse itself, would be 75-100 kg. Therefore, we sought AMRs with these characteristics in the market. The following table shows the models found with this restriction and their technical characteristics. The AMRs found on the market that meet the specifications belong to the companies OMRON, see [31], MIR, see [32], and ROBOTNIK, see [33]. As seen in Table 1, there are no significant differences among the existing AMRs on the market, from the point of view of their technical specifications. They are all capable of building maps and self-locating, and they have the usual inputs/outputs, Wi-Fi, Bluetooth, etc. \begin{table}
\begin{tabular}{c c c c c c c} \hline  & **Omron MC105** & **Omron MC130** & **MIR 100** & **RB-XL Steel** & **RB-Sherpa** & **RB-2** \\ \hline \multicolumn{6}{c}{Mechanical specifications} \\ \hline Sizing (mm) & 1020 \(\times\) 894 \(\times\) 1398 & 1020 \(\times\) 894 \(\times\) 1398 & 900 \(\times\) 600 \(\times\) 358 & 699 \(\times\) 515 \(\times\) 415 & 1142 \(\times\) 1413 \(\times\) 626 & 736 \(\times\) 595 \(\times\) 350 \\ \hline Weight (unloaded) & 79 kg & 79 kg & 62.5 kg & 90 kg & 123 kg & 75 kg \\ \hline Load Capacity & 105 kg & 130 kg & 100 kg & 130 kg & 100 kg & 200 kg \\ \hline Ground Clearance & - & - & 50 mm & 163 mm & 234 mm & - \\ \hline Max. Speed & 1.35 m/s & 0.9 m/s & 1.5 m/s & 3 m/s & 3 m/s & 1.7 m/s \\ \hline Max. Slope & 5\% & 5\% & 5\% & 30\% & 30\% & - \\ \hline Ambient Temperature Range & - & - & +5 \({}^{\circ}\)C a 50 \({}^{\circ}\)C & +0 \({}^{\circ}\)C a 50 \({}^{\circ}\)C & \(-\)10 \({}^{\circ}\)C a 45 \({}^{\circ}\)C & \\ \hline Personalisation & No & No & Yes & Yes & Yes & Yes \\ \hline Wheel Strength & Medium-Low & Medium-Low & Medium-Low & High & High & - \\ \hline Movement & Unid. & Unid. & Unid. & Multid. & Multid. & Multid. \\ \hline \multicolumn{6}{c}{Navigation} \\ \hline Area Mapping & Yes & Yes & Yes & Yes & Yes & Yes \\ \hline Trajectory Recalculation & Yes & Yes & Yes & Yes & Yes \\ \hline Route Modification & Yes & Yes & Yes & Yes & Yes & Yes \\ \hline Speed According to Zone & Yes & Yes & Yes & Yes & Yes & Yes \\ \hline \multicolumn{6}{c}{Communication} \\ \hline WiFi & 802.11 a/b/g & 802.11 a/b/g & Dual Band & 802.11n & 802.11n & \\ \hline Bluetooth & - & - & Si &? &? \\ \hline S.O. & - & - & ROS (Pc Linux) & ROS (Pc Linux) & \\ \hline USB & Yes & Yes & Yes & Yes & Yes \\ \hline Ethernet & Yes & Yes & Yes & Yes & Yes \\ \hline RS232 & Yes & Yes & - & Yes & Yes \\ \hline Digital 1/O & Si & - & - & - & - \\ \hline Position Monitoring & Yes & Yes & Yes & Yes & Yes \\ \hline Status Monitoring & Yes & Yes & Yes & Yes & Yes \\ \hline \multicolumn{6}{c}{Safety} \\ \hline IP & - & - & 20 & 54/65 & 54/65 & 54 \\ \hline \end{tabular}
\end{table} 
Table 1: Technical specifications of existing AMRs on the market. Therefore, in order to choose the most appropriate one, we had to test them in industrial conditions and determine which was the best in this type of space. The tests carried out were the following:  
* Test 1--Obstacles in different positions: In this test, objects are placed at different heights and positions (within the range established by the manufacturer for the load to be transported). * Test 2--Non-solid objects: This test is particularly focused on determining the detection capacity of the cages of industrial robots. * Test 3--Cornering: In this test, the aim is to determine the ability of the AMR to find alternative routes to avoid a possible cornering by several operators. * Test 4--Industrial vehicles: This test seeks to determine the ability of the AMR to detect industrial vehicles of different sizes, with different wheels and colours. Table 2 shows the test results and whether or not the AMRs passed them successfully. As seen in Table 2, none of the AMRs are capable of performing satisfactorily in industrial environments.