DEVELOPMENT OF INDOOR AMR USING ROS2

Alamsyah, Tengku Pascal and Rusyadi, Rusman (2022) DEVELOPMENT OF INDOOR AMR USING ROS2. Bachelor thesis, Swiss German University.

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Abstract

Currently, robots have become increasingly important in the industrial sector, particularly in tasks related to goods transportation. Automated Guided Vehicles (AGVs) have been widely used as a predecessor to Autonomous Mobile Robots (AMRs) for this purpose. However, AGVs have notable limitations, particularly in their inability to navigate dynamically. In contrast, AMRs offer a superior solution by incorporating functionalities such as Simultaneous Localization and Mapping (SLAM), navigation, and obstacle avoidance. The objective of this thesis is to develop an indoor AMR using the Robot Operating System 2 (ROS2) framework, equipped with multiple LiDARs, an Inertial Measurement Unit (IMU), and odometry as sensors. LiDAR is specifically employed for SLAM, which allows the robot to map and navigate its environment simultaneously. Comparing the SLAM Toolbox with Carthographer, the former demonstrates higher accuracy, as reflected in the graph. The average mean value of 3.686 indicates the precision of the odometry system. Ultimately, the AMR is capable of processing SLAM data from the hardware and generating maps accordingly.

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 08:44
Last Modified: 11 Dec 2024 08:44
URI: http://repository.sgu.ac.id/id/eprint/2727

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