Design of a Centralized Supervisory Control System and Communication Interface for Multiple AMRs in an RF Communication Environment

Centralized control of multiple autonomous mobile robots (AMRs) requires the reliable transmission of control commands and status information through a shared wireless channel. When multiple AMRs share a single RF communication channel, sequential command transmission and simultaneous feedback responses may affect the control update cycle and communication reliability. This study proposes a centralized supervisory control system and communication interface for multiple AMRs using 900 MHz RF communication. The proposed system employs a Platform ID-based batch transmission method to deliver control commands to multiple platforms in a single communication cycle and a polling-based request-response method to collect feedback sequentially. In addition, online/offline status management, platform-specific emergency stop control, and command-timeout-based failsafe functions are integrated into the communication architecture. Experiments involving two physical AMR platforms were conducted to validate the implementation and operational feasibility of the proposed system. Furthermore, the scalability characteristics of the communication structure were analytically examined as the number of platforms increased. The results support the implementation and operational feasibility of the proposed architecture and provide an analytical basis for evaluating its scalability with an increasing number of platforms.