Design and development of a testing rig for position localization using robot operating system

Hairudin, Abdullah Azam (2022) Design and development of a testing rig for position localization using robot operating system. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

	Text (24 Pages) Design and development of a testing rig for position localization using robot operating system.pdf - Submitted Version Download (2MB)
	Text (Full text) Design and development of a testing rig for position localization using robot operating system.pdf - Submitted Version Restricted to Repository staff only Download (12MB)

Abstract

This project research focuses on designing and developing a mobile robot as a testing rig platform to carry out self-localization and navigation processes. The robot will be installed with Robot Operating System (ROS), which is a package that includes ROS nodes, a ROS-independent library, a dataset, configuration files, and anything else that logically does a practical module for localization and navigation. Innumerable transp01tation system concept in the current industry mostly is fixed and difficult to be alternate. The necessitate for a new flexible transportation system is very essential in increasing industry and company efficiency to handle transportation systems for their goods. An idea by using ROS package, Adaptive Monte Carlo Localization (AMCL) in perforn1ing Simultaneous Localization and Navigation (SLAM) and improving the mobile robot's navigation and localization system used for resorting to industry transportation system problems. The mobile robot testing rig body will fabricate using a 3-dimension printer using the standard polylactic acid (PLA) plastic material. It is attached with Raspberry Pi 4, as the main minicomputer to integrate all the ROS algorithms to control the robot movement, generate mapping, and read the various sensor data input The last phase in this project will be evaluated in the methodology chapter by experimenting to operate the mobile robot using the RViz software running in Linux Operating System for the mobile robot performing movement process from a location to another desired location using self-localization and navigation concept. The result of this project shows all the objectives are achieved as the mobile robot is performing well in showing high accuracy in mapping and performing movement processes.

Actions (login required)

View Item