DEVELOPMENT OF AUTONOMOUS MOBILE ROBOT IN UTILIZATION OF RTK GNSS FOR OUTDOOR LOCALIZATION AND AUTONOMOUS NAVIGATION WITH ROS2

Dharmadi, Olivia and Rusyadi, Rusman (2022) DEVELOPMENT OF AUTONOMOUS MOBILE ROBOT IN UTILIZATION OF RTK GNSS FOR OUTDOOR LOCALIZATION AND AUTONOMOUS NAVIGATION WITH ROS2. Bachelor thesis, Swiss German University.

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Abstract

As last mile delivery has increased in demand with the advancement of e-commerce, an automated method that eliminates the problems related to effective route planning and human error in delivery is beneficial. This research focuses on the development of an Autonomous Mobile Robot (AMR) for outdoor applications based on ROS2 with a u-blox ZED-F9P module, rotary encoders, and IMU for odometry and localization, Intel D415 camera for obstacle detection and avoidance, and IBT-2 motor drivers for motor actuation. The components mentioned above are successfully integrated with ROS2 packages such as robot_localization and nav2. The accuracy obtained through the utilization of NTRIP to achieve RTK-based GNSS configuration for position reading varies between 1-2 cm and generates a 1.53% maximum percentage error between real and computed odometry. With this, the robot is able to navigate to a user-given goal from RViz2 and follow a route through a series of GNSS waypoints containing latitude, longitude, and altitude.

Item Type: Thesis (Bachelor)
Subjects: T Technology > T Technology (General) > T59.5 Automation
Divisions: Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User: Mr Arinton Sinaga
Date Deposited: 11 Dec 2024 08:24
Last Modified: 11 Dec 2024 08:24
URI: http://repository.sgu.ac.id/id/eprint/2723

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