Paramitha, Dwi Karuna and Rusyadi, Rusman and Sinaga, Erikson F. (2020) Self-Charging Autonomous Mobile Robot. Bachelor thesis, Swiss German University.
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Abstract
The purpose of this thesis is to repurpose a swarm robot into an autonomous mobile robot which can detect its battery charge level and automatically go to its charging station. The robot makes use of a LiDAR to be able to scan and map its surroundings, in order to position and navigate itself properly in the environment. In addition to the LiDAR, encoders and an inertial measurement unit are also used to measure the robot‟s travelled distance and orientation. It should be able to perform Simultaneous Localisation and Mapping (SLAM) with the sensors used. A camera will also be used to detect AR tags or markers and estimate the marker pose with respect to the robot. After the battery state of charge falls below the set threshold, the robot will automatically travel to its charging station, where it will stay until its battery has been fully charged. The performance test suggests that there are several points where the robot‟s construction and algorithm can be improved, but the overall system shows promise.
| Item Type: | Thesis (Bachelor) |
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| Uncontrolled Keywords: | ROS; AMR; OpenCV AR Marker; Multithread |
| Subjects: | T Technology > TJ Mechanical engineering and machinery T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics T Technology > TJ Mechanical engineering and machinery > TJ210 Robots (General) |
| Depositing User: | Faisal Ifzaldi |
| Date Deposited: | 02 Nov 2020 14:09 |
| Last Modified: | 02 Nov 2020 14:09 |
| URI: | http://repository.sgu.ac.id/id/eprint/1907 |
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