Edrick, Edrick and Rusyadi, Rusman (2020) Outdoor AMR Using Robot Operating System (ROS) and GNSS. Bachelor thesis, Swiss German University.

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Abstract

The purpose of this thesis is to create an autonomous mobile robot with an outdoor navigation system to deliver goods in between warehouses in industries. The autonomous mobile robot is equipped with varies of sensors that integrates and work together to generate a desirable output without constantly being controlled. The robot will be using GPS for outdoor localization, and other navigation sensors (IMU, odometer and camera). To be able to generate precise location and positioning of the robot, Kalman filter method will be applied. Kalman filter is a method to estimate and predict the output in linear and quadratic form. Linorobot is a ROS development platform which supports a variety of sensors and will be a great advantage to be use in the mobile robot. Another development platform called Husky is also used and integrated for outdoor purposes which will help in localize the GPS data with the other sensors. After collecting several waypoints, the robot is able to follow the data collected and configure the heading with the initial condition. The testing of the actual performance conduct by the robot’s positioning using GPS verifies the outdoor AMR using GNSS.

Item Type:	Thesis (Bachelor)
Uncontrolled Keywords:	AMR; ROS; Outdoor Navigation; Kalman Filter; GPS Waypoints
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/1945

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