Felix, Felix and Rusyadi, Rusman and Sinaga, Erikson F. (2015) Designing and Constructing AGV Robot Case: Obstacle Avoidance Indoor Environment. Bachelor thesis, Swiss German University.

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Abstract

The objective of this thesis is to build a computer vision system that capables to avoid obstacle for Home Robot. The obstacle avoidance is designed to be implemented for indoor usage. In this thesis an AGV is used to test the computer vision system. Stereo camera is used to detect an object in front of the AGV. After an object is detected, the average pixel intensity is calculated for the obstacle avoidance algorithm. The AGV pivots until there is no object in front of the AGV. The communication system of the AGV is established by the connection between the host computer and the microcontroller through serial communication using firmata protocol. The design and construction of the AGV hardware is done together as a group project with Rheza Andika Prasetya, who is working for the navigation system, and Meiviana Charisa, who is working for the path planning. The group only shares the hardware. The software that is implemented is different and operates independently. This system is developed by using Mini PC, Qt Creator, and Arduino.

Item Type:	Thesis (Bachelor)
Uncontrolled Keywords:	Stereo Vision; Disparity Map; OpenCV; Obstacle Avoidance
Subjects:	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:	Astuti Kusumaningrum
Date Deposited:	31 Dec 2021 06:33
Last Modified:	31 Dec 2021 06:33
URI:	http://repository.sgu.ac.id/id/eprint/1305

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