Autonomous mobile robot-based transportation system | |
| Author | Stellmann, Patrik |
| Call Number | AIT RSPR no.ISE-01-01 |
| Subject(s) | Autonomous robots Transportation |
| Note | A research study submitted in partial fulfillment of the requirements for the degree of Diploma., School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Research studies project report ; no.ISE-01-01 |
| Abstract | Subject of this research study is a transportation system between store and cell stations in a factory using autonomous mobile robots instead of guiding path bounded and thus less flexible automatic guided vehicles. Providing a sufficient grade of autonomy the system could be very easily installed in nearly factories with minimal requirements to the environment and especially without additional mechanical installations like wires in the ground. A short introductive overview about existing systems of automatic guided vehicles and cmrnnt research on autonomous mobile robots is also given in this thesis. The existing system already provided the software for communication between the cell stations a server and the robot connected wireless via WaveLAN to the LAN between server and cell stations. Also a plain controlling software for a nomad 200 mobile robot was implemented to guide the robot from one cell station to the other. The part of the project this thesis focuses on is mainly the adaptation to a new Pioneer 2-DX mobile robot and improving the autonomy of the robot including obstacle avoidance. Since Saphira, the application's programming interface provided with the robot, supp01ts also behaviour with fuzzy control also this modern alternative to direct motion control is studied and successfully applied for this project. A special problem with autonomous mobile robots is the localization that is more difficult than for automatic guided vehicles since no guiding paths or fixed landmarks should. be used and thus the orientation·can only relay on the local environment explored with the sonar sensors in case of this study. A part of this thesis deals with this topic to improve the accuracy provided by dead reckoning - a standard approach to determine the current position by integrating the previous motion. The chosen method is "Continuous Localization" while the applicability of two different algorithms to this problem was theoretically analysed and compared. |
| Year | 2000 |
| Corresponding Series Added Entry | Asian Institute of Technology. Research studies project report ; no.ISE-01-01 |
| Type | Research Study Project Report (RSPR) |
| 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.;Rall, Ing. Klaus; |
| Scholarship Donor(s) | SIEMENS AG.; |
| Degree | Research Studies Project Report (Dip.) - Asian Institute of Technology, 2000 |