Guided Vehicle based with Robot Operating System for Mapping and Navigation Task

摘要

There are wide options of AGV’s offered to the industries, mostly the guided variation of AGV, this research provides the option of the autonomous variation, overcoming the issue of lacking in flexibility and application on the guided variation. This research designs an Automated Guided Vehicle (AGV) with operating system of Robot Operating System (ROS), to integrate several sensors and systems to do mapping and navigation task. The primary sensor, Lidar was tested to obtain its accuracy, which was found to be above 96%. The sensor used proceeded onto mapping task developed by Hector, which also produced a result on map accuracy above 96% with RVIZ measurement tool to the actual dimensions of the map. After testing on the navigation of the AGV, the weight test was conducted, showing that the AGV could transport 10kg with 0.06m/s, with only 0.015m/s of speed reduction. The errors, troubleshooting methods and solutions have been discussed and the project was concluded.