Charisa, Meiviana and Rusyadi, Rusman (2015) Designing and Constructing Automated Guided Vehicle Based on Path Planning System and Vision. Bachelor thesis, Swiss German University.
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Abstract
The objective of this thesis work isto design Automated Guided Vehicle (AGV) and to develop its path planning algorithm. Mobile Robot Programming Toolkit (MRPT) library is implemented in this project. From this MRPT, the path planning system is implemented with occupancy grid map. The grid map that is used as a map in the path planning system is an image taken from camera.The captured image has shadow because of lighting thus it has to be processed to make itlooks like a map with only black and white color. The path planning system is using Markov decision process for searching the shortest path and avoiding obstacles. The input for this program is the origin point, the target point and the radius of the AGV. Some experiment is conducted in several maps to know how the path planning system works. The result of the simulation is that the algorithm can find the path in several maps.
| Item Type: | Thesis (Bachelor) |
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| Uncontrolled Keywords: | AGV; Path Planning; Vision; Grid Map; MRPT; Image Processing; Accessing Pixel. |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152 Automobiles--Maintenance and repair > TL152.8 Automated vehicles T Technology > TS Manufactures > TS171 Product design |
| Divisions: | Faculty of Engineering and Information Technology > Department of Mechatronics Engineering |
| Depositing User: | Atroridho Rizky |
| Date Deposited: | 04 Nov 2020 14:48 |
| Last Modified: | 04 Nov 2020 14:48 |
| URI: | http://repository.sgu.ac.id/id/eprint/1514 |
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