1 AIT Asian Institute of Technology

Development and navigation of a hybrid Omni-mecanum wheel robot platform

AuthorRobise, Jude Amila Mihiranga
NoteA thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics
PublisherAsian Institute of Technology
AbstractThis master thesis is mainly focused on implementing a new hybrid omni-mecanum wheel mechanism for an intelligent vehicle. This intelligent vehicle is able to navigate fully autonomously in any indoor area. The most significant parts of this thesis are the development of a new wheel configuration by using two types of w heels. Basically, this mobile robot is having 2 mecanum wheels and a single Omni wheel in a triangular formation. Lidar sensor is used to guide the robot inside the lab while avoiding static as well as dynamic obstacles. The robot is mainly programmed by using Robotics Operating System (ROS) which is a Linux based universal robot platform with a PC and it is able to navigate with an Arduino Due microcontroller.
Year2019
TypeThesis
SchoolSchool of Engineering and Technology (SET)
DepartmentDepartment of Industrial Systems Engineering (DISE)
Academic Program/FoSMicroelectronics (ME)
Chairperson(s)Manukid Parnichkun
Examination Committee(s)Abeykoon, A. M. Harsha S.;Keun, Song Weon
Scholarship Donor(s)AIT Fellowship
DegreeThesis (M. Eng.) -- Asian Institute of Technology, 2019


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