Reconfiguration and Implementation of Robot Operating System for Mapping and Navigation on Human Follower Transporter Robot

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Reconfiguration and Implementation of Robot Operating System for Mapping and Navigation on Human Follower Transporter Robot

Saphala, Addythia - Personal Name; Tanaya, Prianggada Indra - Personal Name; Rusyadi, Rusman - Personal Name;

Robotic Operation System (ROS) provides flexible framework for writing robot software. This framework would be implemented to Human Follower Transporter Robot (HFTR) which has been developed by Fani Kurniawan Mista and William Tjiu in 2012. the purpose of this thesis is to improve the navigation system of HFTR. the navigation system requires several inputs to function correctly: the robot odometry and transform data, a map, and a sensor data. By utilizing ROS, the existing sensor system (Kinect) can be adapted to appropriate inputfor mapping and navigation (laser scan). This would also enable implementation of SLAM which is needed to generate maps. the HFTR would also have to be reconfigured to use ROS framework as base for the driver and to record transform data from encoder, which are also required. the modular nature of ROS framework enables each aspectof the system to work separately and efficiently in regards to communications between program nodes.

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B01545 (Rack Thesis) Available

Detail Information

Series Title: -
Call Number: 1545
Publisher: : Swiss German University., 2014
Collation: -
Language: English
ISBN/ISSN: -
Classification: NONE
Content Type: -
Media Type: -
Carrier Type: -
Edition: -
Subject(s): MT
Implementation
ROS
Reconfiguration
HFTR
Specific Detail Info: -
Statement of Responsibility: -

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