Development of mobile robot and localization system

Mobile robot is currently being actively developed for both civilian and military use to perform dull, dirty and dangerous activities. Mobile robot is autonomous in nature, capable of operating over a wide variety of terrain and can be characterized by different speed, sensor range and weapons capab...

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Bibliographic Details
Main Author:	Juhari, Khairul Anuar
Format:	Thesis
Language:	English English
Published:	2014
Subjects:	T Technology (General) TJ Mechanical engineering and machinery
Online Access:	http://eprints.utem.edu.my/id/eprint/14908/1/DEVELOPMENT%20OF%20MOBILE%20ROBOT%20AND%20LOCALIZATION%20SYSTEM%2024%20pages.pdf http://eprints.utem.edu.my/id/eprint/14908/2/Development%20of%20mobile%20robot%20and%20localization%20system.pdf
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id	my-utem-ep.14908
record_format	uketd_dc
spelling	my-utem-ep.149082022-09-27T12:36:29Z Development of mobile robot and localization system 2014 Juhari, Khairul Anuar T Technology (General) TJ Mechanical engineering and machinery Mobile robot is currently being actively developed for both civilian and military use to perform dull, dirty and dangerous activities. Mobile robot is autonomous in nature, capable of operating over a wide variety of terrain and can be characterized by different speed, sensor range and weapons capabilities. Thus, the research involves designing an indoor mobile robot and creating algorithm for the mobile robot to localize. As such, the purpose of this thesis is to develop the localization of the mobile robot based on Extended Kalman Filter (EKF) method. The process begins with the mobile robot mechanical design where a selection of wheel types and types of locomotion are selected. Then the odometry corrections using a method called University of Massachusetts Benchmark (UMBmark ) method has been used to improve the encoder readings. As a part of the research contribution, a Circular Bencmark (CBmark) method is created in order to improve the motor speed by calibrating the encoder speed readings on each motor. Then the algorithm is built based on EKF method and tested via simulations. The simulation runs on two different cases that require the mobile robot to move to the target location while the time to accomplish and the distance between the mobile robot center gravity (cog) are taken. Then, the same algorithms are put on the hardware and the experiment runs same as in simulations. The performance of the mobile robot is compared between simulations and the real experiment based on graph of performance. 2014 Thesis http://eprints.utem.edu.my/id/eprint/14908/ http://eprints.utem.edu.my/id/eprint/14908/1/DEVELOPMENT%20OF%20MOBILE%20ROBOT%20AND%20LOCALIZATION%20SYSTEM%2024%20pages.pdf text en public http://eprints.utem.edu.my/id/eprint/14908/2/Development%20of%20mobile%20robot%20and%20localization%20system.pdf text en validuser https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=92061 mphil masters Universiti Teknikal Malaysia Melaka Faculty of Manufacturing Engineering
institution	Universiti Teknikal Malaysia Melaka
collection	UTeM Repository
language	English English
topic	T Technology (General) TJ Mechanical engineering and machinery
spellingShingle	T Technology (General) TJ Mechanical engineering and machinery Juhari, Khairul Anuar Development of mobile robot and localization system
description	Mobile robot is currently being actively developed for both civilian and military use to perform dull, dirty and dangerous activities. Mobile robot is autonomous in nature, capable of operating over a wide variety of terrain and can be characterized by different speed, sensor range and weapons capabilities. Thus, the research involves designing an indoor mobile robot and creating algorithm for the mobile robot to localize. As such, the purpose of this thesis is to develop the localization of the mobile robot based on Extended Kalman Filter (EKF) method. The process begins with the mobile robot mechanical design where a selection of wheel types and types of locomotion are selected. Then the odometry corrections using a method called University of Massachusetts Benchmark (UMBmark ) method has been used to improve the encoder readings. As a part of the research contribution, a Circular Bencmark (CBmark) method is created in order to improve the motor speed by calibrating the encoder speed readings on each motor. Then the algorithm is built based on EKF method and tested via simulations. The simulation runs on two different cases that require the mobile robot to move to the target location while the time to accomplish and the distance between the mobile robot center gravity (cog) are taken. Then, the same algorithms are put on the hardware and the experiment runs same as in simulations. The performance of the mobile robot is compared between simulations and the real experiment based on graph of performance.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Juhari, Khairul Anuar
author_facet	Juhari, Khairul Anuar
author_sort	Juhari, Khairul Anuar
title	Development of mobile robot and localization system
title_short	Development of mobile robot and localization system
title_full	Development of mobile robot and localization system
title_fullStr	Development of mobile robot and localization system
title_full_unstemmed	Development of mobile robot and localization system
title_sort	development of mobile robot and localization system
granting_institution	Universiti Teknikal Malaysia Melaka
granting_department	Faculty of Manufacturing Engineering
publishDate	2014
url	http://eprints.utem.edu.my/id/eprint/14908/1/DEVELOPMENT%20OF%20MOBILE%20ROBOT%20AND%20LOCALIZATION%20SYSTEM%2024%20pages.pdf http://eprints.utem.edu.my/id/eprint/14908/2/Development%20of%20mobile%20robot%20and%20localization%20system.pdf
_version_	1747833848685658112

Development of mobile robot and localization system

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