Tannaka, Getrich Malvern and Rusyadi, Rusman (2023) Development of Indoor Logistic Autonomous Mobile Robot Using Behaviour Tree in ROS2. Bachelor thesis, Swiss German University.
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Abstract
Behavior Tree (BT) was first introduced in video game Artificial Intelligence, and now become the world’s leading way to structure a sequence where the program can switch between tasks in an autonomous agent such as Autonomous Mobile Robot (AMR). With the behavior tree readability and reusability, AMR could do much more complex tasks. AMR is a wheeled robot that is commonly used in industrial warehouses for logistics purposes, and it can path its way through a given map while avoiding obstacles. This thesis focuses on the use of BT, LIDAR, camera RealSense D435 for safety and Battery Swap. Using BT, three sequences were made to align with trolley, to drop trolley, and move away from trolley whilst moving to a position. LIDAR is more reliable than Navigation 2 for more precise positioning with an error of 0.014 rad compared to 0.126 rad. Camera RealSense has an error distance of 7% at 50cm and 8.26% at 100cm. The battery swap method has a downtime of more than 1 hour for every 5 batteries used. Hopefully, this project could contribute to a more complex use of BT in AMR
| Item Type: | Thesis (Bachelor) |
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| 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: | Library SGU |
| Date Deposited: | 13 Apr 2023 06:33 |
| Last Modified: | 13 Apr 2023 06:33 |
| URI: | http://repository.sgu.ac.id/id/eprint/2568 |
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