Wirjono, Wilvan Gunawan and Rusyadi, Rusman (2020) Prototype Development of Autonomous Mobile Robot with indoor Navigation to Deliver Goods. Bachelor thesis, Swiss German University.

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Abstract

This thesis is to improve the design and adding some new features for the autonomous mobile robot (AMR) to be presented in a whole system of a prototype. An autonomous mobile robot is a system that integrates sensors and an on-board computer to help the system to understand its operating environment. AMR navigate dynamically using a map that is produced by sensors reading allowing it to make its path to the goal efficiently. This thesis uses a laser sensor (RPLiDAR) to enable the robot to read its surroundings to navigates itself using SLAM (Simultaneous Localization and Mapping) to obtain the global positioning of the robot. Also, this thesis installs a new sub-system on the AMR using a 3D stereo camera for obstacle avoidance and safety measure of the robot. By continuing the study of an autonomous mobile robot, it is expected to improve the prototype as a whole package. The improvements include the camera obstacle avoidance sub-system, the versatility and effectiveness of the code, the base design, and some hardware improvements such as changing the microcontroller from Arduino to Teensy 4.0. The purpose of this prototype is to continue the study of AMR in Indonesia and can be tested in a real industrial warehouse.

Item Type:	Thesis (Bachelor)
Uncontrolled Keywords:	AMR; ROS; Prototype; Obstacle Avoidance; Camera Vision; Path Planning; Autonomous Navigation
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)
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Faisal Ifzaldi
Date Deposited:	02 Nov 2020 14:10
Last Modified:	02 Nov 2020 14:10
URI:	http://repository.sgu.ac.id/id/eprint/1943

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