Development of a localization algorithm for mobile robot in material transportation system | |
| Author | Tang Quoc Nam |
| Call Number | AIT Thesis no.ISE-02-45 |
| Subject(s) | Materials--Transportation Robots |
| Note | A thesis submitted in partial fulfilment of the requirements for the degree of Master of Engineering, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-02-45 |
| Abstract | Subject of this thesis is a material transportation system between store and cell stations in a factory using autonomous mobile robot instead of guiding path bounded and thus less flexible automatic guide vehicles. The general system contains many problems such as communication between server and cell stations, path planning and autonomy of the mobile robot. Some of the problems were successful done by previous researches. A short introductive overview about the existing system and its parts is given in this thesis. Continue those works, this research concentrates on localization - a special problem with autonomous mobile robot that localize mobile robot and improve its motion accuracy. To solve this problem, the robot position error and Monte Carlo localization (MCL) algorithm is studied. That localization algorithm was implemented by ActivMedia Robotics and SRI International and incorporated in Saphira software version 8.x. A control program for Pioneer 2-DX mobile robot is developed base on Saphira version 8.x environment and the incorporation of MCL functions. The control program also includes some other modules for mobile robot in the material transportation system such as motion follow a path defined by a list of goals, store and show a robot trajectory. An obstacle avoidance module provided by ActivMedia Robotics for robot navigation is also incorporated into the control program and successful tested with real robot. Many experiments are implemented for both simulator and real Pioneer 2-DX mobile robot in AIT's Automation laboratory. The experimented results are then analysed to find out an optimal set of localization parameters. A direction to incorporate the previous modules into the control program is also given. |
| Year | 2002 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-02-45 |
| 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) | Kusanagi, Michiro;Manukid Parnichkun; |
| Scholarship Donor(s) | Ministry of Education and Training of Vietnam; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2002 |