Localization and navigation control of a differential-drive autonomous intelligent vehicle (AIV) with cart-searching and automatic pickup | |
| Author | Pognakvorn Meth |
| Call Number | AIT Thesis no.ISE-21-09 |
| Subject(s) | Autonomous robots Intelligent control systems Warehouses--Automation |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics |
| Publisher | Asian Institute of Technology |
| Abstract | This thesis presents the development of Differential-drive Autonomous Intelligent Vehicle (AIV) with autonomous cart-searching and picks up. An AIV is a mobile robot/vehicle used to transport materials in indoor manufacturing environments or a warehouse and designed to receive and distribute material or finished goods. AIV can self-navigate through a real indoor environment and be able to avoid dynamic obstacle and find an alternating route in case the pre-planned route is blocked. Autonomous Cart-Searching and Picks Up feature is developed to allow the AIV to find and get the specifically requested cart. Two Laser Scanner unit are using to create a map in the environment. Extended Kalman Filter uses for the sensor fusion of IMU unit and wheel odometry. Then, Adaptive Monte Carlo Algorithm provides the localization of the robot on the map. Moreover, several local and global planner performances have tested. Then the camera detects and decode April Tag on the cart while searching. April Tag is used to localize the cart then proceed to engage to the cart to AIV. |
| Year | 2021 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Mongkol Ekpanyapong; |
| Scholarship Donor(s) | Thai Pipe Scholarship;Asian Institute of Technology Fellowship |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2021 |