Development of a mobile robot system for material transportation | |
| Author | Ekalug Paiboonying |
| Call Number | AIT Thesis no.ISE-00-55 |
| Subject(s) | Mobile robots Materials handling |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-00-55 |
| Abstract | This research describes the development of a mobile robot system for use in an electronics environment. The system architecture, hardware selection and the software development parts of the system are proposed and a prototype developed in collaboration with Lucent Technologies. The prototype uses the latest wireless communication standard and a fast path-planning algorithm based on optimization theory. In this study the design of the mobile robot system are classified into 4 categories: Central station unit, Cell station unit, Wireless communication unit and Mobile station unit. The main operating system is Linux for central station and mobile station. The central station connects to the mobile station and some mobile cell stations via wireless LAN using TCP/IP protocol. The software package for cell station is developed in 3 types: C for Unix and DOS platform, Visual Basic for Windows platform and VB-OCX module for programming developer. The global map we used in the path planning process is the floor plan layout of Lucent Microelectronics Building. Path planning algorithm is an important part for robot navigation. Optimization and Heuristics algorithms are the path-planning solutions. Therefore Linear Programming, Insertion, Branch & Bound and Genetic Algorithm algorithms are chosen to study and compare. Finally Insertion method with two-optimal improvement is selected to implement in both simulator system and real robot in the laboratory. |
| Year | 2000 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-00-55 |
| Type | Thesis |
| School | School of Advanced Technologies (SAT) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Afzulpurkar, Nitin V.; |
| Examination Committee(s) | Manukid Parnichkun ; Ahmed, Kazi M.; |
| Scholarship Donor(s) | Asian Institute of Technology; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2000 |