Implementing Slam Mapping on an Autonomous Guided Vehicle Using Ros
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.
B01550 | (Rack Thesis) | Available |
No other version available