Wijaya, Brian and Schwung, Andreas (2017) Microcontroller Design For An Omnidirectional Mobile Robot (Programming For Simultaneous Localization, Mapping, And Exploration). Bachelor thesis, Swiss German University.

Preview	Text Brian WIjaya 11301057 TOC.pdf Download (491kB) | Preview
	Text Brian WIjaya 11301057 1.pdf Restricted to Registered users only Download (292kB)
	Text Brian WIjaya 11301057 2.pdf Restricted to Registered users only Download (561kB)
	Text Brian WIjaya 11301057 3.pdf Restricted to Registered users only Download (576kB)
	Text Brian WIjaya 11301057 4.pdf Restricted to Registered users only Download (1MB)
	Text Brian WIjaya 11301057 5.pdf Restricted to Registered users only Download (258kB)
Preview	Text Brian WIjaya 11301057 Ref.pdf Download (218kB) | Preview

Abstract

This paper is particularly intended to create a map through SLAM algorithm, in particular using Hector SLAM and explore the unknown environment using the Hector Exploration node. SLAM is an algorithm that used for creating a virtual map that can be used for environment sensing. Using the mecanum wheel or omnidirectional mobile robot where laser scanner sensor is used. RPLIDAR A2 is chosen for the laser scanner due its low-cost price while still producing a good set image of map. ROS framework is used to program for the robot since it provide ready-to-use packages regarding to SLAM. After the map was created, it will be used for dynamic path planning where it can provide the static map for the basic of the dynamic path planning. Through this process a sufficient map is created.

Item Type:	Thesis (Bachelor)
Uncontrolled Keywords:	SLAM; ROS; Omnidirectional; Mecanum Wheel.
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ210 Robots (General) T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering systems. Automatic machinery (General)
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Astuti Kusumaningrum
Date Deposited:	15 May 2020 08:40
Last Modified:	15 May 2020 08:40
URI:	http://repository.sgu.ac.id/id/eprint/386

Actions (login required)

View Item