# Implementation of Autonomous Mobile Robot in SmartFactory
## 6 Conclusions and Future Work  
This paper described the implementation of an industrial autonomous mobile robot MiR100 in SmartFactory. The production line produced a pair of products that were not distributed outside the premises of the line, and therefore it was not possible to take possession of the produced product. For this reason, the mobile robot was used to distribute the finished products around the SmartFactory premises. The line produced design products and customizable LEGO products. The design product was intended for the target customer, to whom the product was delivered by the mobile robot. The LEGO product was not intended for customers and was only used to demonstrate what the line was capable of. The mobile robot drove the LEGO product through the SmartFactory premises and then returned the LEGO product back to the line, which then disassembled it into its individual components. In the first step of the implementation, it was necessary to create a virtual map of the SmartFactory, according to which the mobile robot had to orient itself in space. Individual obstacles, forbidden zones, positions, and markers necessary for the implementation were inserted into the map. The SmartFactory contained its own wireless fidelity (Wi-Fi) network, to which all the devices needed to operate the robot and communicate with the production line were connected. Communication with the line was provided by the WISE module, which contained four digital inputs and four digital outputs. Each digital signal had  
Figure 10: (**a**) L-marker, good position; (**b**) L-marker, problematic position; (**c**) VL-marker; (**d**) bar-markers; (**e**) V-marker. a clear meaning and was sufficient for communication between the mobile robot and the production line. The program for operating the production line was divided into individual missions. In order to start the operation of the production line, the main mission had to be started on the mobile robot, which was already calling the next sub-mission. The manufactured products were transferred to the mobile robot by a robotic arm. When loading products onto the robot, the positioning accuracy of the mobile robot was not important. When unloading the LEGO product that the robotic arm returned to the line, a high precision was required to position the robotic arm correctly. This accuracy was not achieved by the mobile robot, so we came up with three suggestions to improve the accuracy. Using a camera to determine the exact position of the product, using external sensors to accurately position the mobile robot, and using markers to increase the positioning accuracy. After consulting and considering the complexity of the solution, we decided to use markers. Since the mobile robot supported multiple types of markers, we tested their accuracy. The L-marker came out best in the tests. The result was a fully automated process for operating the production line. The MiR100 mobile robot could respond to a call from the line, then arrive to collect the product, take it over and make its presentation or delivery to the desired location. The operation also included battery monitoring and automatic recharging if necessary. We see the potential for improving the way we communicate in future developments. The communication used by the WISE module is limited to data types and a small number of inputs and outputs. During further development, communication via a representational state transfer API (REST API) supported by a mobile robot is planned. In addition, the robotic arm will be retrofitted with a camera. If the robotic arm was equipped with a camera, the capabilities of the mobile robot would be expanded. Without the camera, the LEGO product must remain in the same position as the robotic arm. Using the camera, the LEGO product could be removed from the mobile robot and then returned. The viewer would then be able to view the LEGO product themselves. The camera would then identify the position of the LEGO product and relay this information to the robotic arm.