Development of a hybrid mecanum-omni-wheel mobile robot with visual SLAM | |
| Author | Ati Pongpachamnanwet |
| Call Number | AIT Thesis no.ISE-21-22 |
| Subject(s) | Mobile geographic information systems Autonomous robots Robots--Control systems |
| 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 master thesis focus on the develops a hybrid mecanum-Omni wheel configuration with visual SLAM for an autonomous mobile robot. This mobile robot is able to navigate autonomously in an indoor environment. The ORB SLAM 2, the open-source SLAM for monocular, stereo, and RGB-D camera is used for Mapping and localization. The RGB-D sensor is used to extract the feature for the SLAM and guild the robot inside the environment. The robot has the ability to make its own decision to avoid the obstacles with the Dynamic window approach (DWA). The robot is programmed based on the Robotic Operating System (ROS) which is a set of software and library for robotic applications. |
| 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) | Dailey, Matthew N.;Mongkol Ekpanyapong |
| Scholarship Donor(s) | Royal Thai Government Fellowship |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2021 |