Franklin, Franklin and Tanaya, Prianggada Indra and Rusyadi, Rusman (2015) Improving the Maneuvaribility and Mapping System of Autonomous Guided Vehicle. Bachelor thesis, Swiss German University.
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Abstract
Autonomous Guided Vehicles (AGVs) study and development have been performed at SGU. The mechanical, electrical and software platform has been studied and explored. One of AGV developed is the ‘Midori’. This AGV was analyzed to have a problem on maneuverability. Therefore, for mapping tasks, the result was not satisfying. The presumption was in motor gear transmission type. Replacing and re-designing the motor configuration and support, may solve the problem encountered and improve the mapping tasks. The improvement on the software that may improve the mapping task covers the ROS configuration, PID Tuning, and gmapping parameter setup. To proof the improvement, following test plan are performed. They are maneuverability test, torque calculation, and motor electrical power analysis, and mapping accuracy test under a certain environment.
| Item Type: | Thesis (Bachelor) |
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| Uncontrolled Keywords: | Robot Operating System; Autonomous Guided Vehicle; Maneuverability; SLAM; Differential Drives; Simulation. |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics T Technology > TJ Mechanical engineering and machinery > TJ210 Robots (General) T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152 Automobiles--Maintenance and repair > TL152.8 Automated vehicles |
| Divisions: | Faculty of Engineering and Information Technology > Department of Mechatronics Engineering |
| Depositing User: | Atroridho Rizky |
| Date Deposited: | 05 Nov 2020 13:20 |
| Last Modified: | 05 Nov 2020 13:20 |
| URI: | http://repository.sgu.ac.id/id/eprint/1504 |
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