Implementing Slam Mapping on an Autonomous Guided Vehicle Using Ros

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Implementing Slam Mapping on an Autonomous Guided Vehicle Using Ros

Davine - Personal Name; Tanaya, Prianggada Indra - Personal Name; Sinaga, Maralo - Personal Name;

The resolve of this thesis work is to implement Simultaneous Localization and Mapping or called SLAM in a Autonomous Guided Vehicle or AGV in short. the map develop use ROS, Robot Operating System with KinectTM as the vision sensor. The2D SLAM was generated by depth image from the KinectTM camera convert into laserscan to observe all surrounding environment and make a complete SLAM map. the AGV move with differential drive concept and use virtual joystick as command move to the left, right, forward, backward, and diagonal manually. the frameworks of thesystem should be reconfigure based on the mobile robot. Experiments are conducted by comparing all results from the mapping generated by it. the system configuration, parameter, mechanical and environment of the robot are the main factors affecting its map results. the display will gives a more realistic view when the robot execute SLAM mapping, so it can be seen directly and compared with the reality. Adjustments can be made for the mapping and sensor parameters to provide more ideal result. This thesis also proposes the use of operating system as tools for improving robot system.

Availability

B01550 (Rack Thesis) Available

Detail Information

Series Title: -
Call Number: 1550
Publisher: : Swiss German University., 2014
Collation: -
Language: English
ISBN/ISSN: -
Classification: NONE
Content Type: -
Media Type: -
Carrier Type: -
Edition: -
Subject(s): MT
Robot operating system
Mobile robot
Framework
SLAM
Mapping
KinectTM
Specific Detail Info: -
Statement of Responsibility: -

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