MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING GRADUATION THESIS ELECTRONICS AND TELECOMMUNICATION ENGINEERING TECHNOLOGY RESEARCH, DESIGN AND BUILD AN AGV ROBOT USING LIDAR SENSOR FOR NAVIGATION ADVISOR : TUONG PHUOC THO STUDENTS: PHAN AN DONG NGUYEN ANH MINH NGUYEN HOA LOC SKL010878 Ho Chi Minh City, August 2023 MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH-QUALITY TRAINING GRADUATION THESIS RESEARCH, DESIGN AND BUILD AN AGV ROBOT USING LIDAR SENSOR FOR NAVIGATION INSTRUCTOR: ME. TƯỞNG PHƯỚC THỌ STUDENT: PHAN AN ĐÔNG 19146113 NGUYỄN ANH MINH 19146093 NGUYỄN HÒA LỘC 19146092 CLASS: 19146CLA YEAR: 2019 – 2023 Ho Chi Minh City, ……., August, 2023 TRƯỜNG ĐẠI HỌC SƯ PHẠM KỸ THUẬT CỘNG HÒA XÃ HỘI CHỦ NGHĨA VIỆT NAM HIGH QUALITY TRAINING FACULTY Độc lập – Tự do – Hạnh phúc MECHATRONICS GRADUATION PROJECT TASKS Semester II / year 2023 Instructor: ME. Tưởng Phước Thọ Student: 1. Phan An Đông ID: 19146113 Phone No: 0765044611 2.
Nguyễn Anh Minh ID: 19146093 Phone No: 0795234178 3. Nguyễn Hòa Lộc ID: 19146092 Phone No: 0966486148 1. Project number: 22223DT176 Name: Research, design and build an AGV robot using LIDAR sensor for navigation. Early figures and documents: The AGV has the original specifications in dimension of 500×400×600 (length×width×height).
The material will be steel for the base and aluminum for the frames, it can carry up to 20kg with maximum speed of 0,1 m/s and the accuracy is expected to be about 80%. Project main object Research and build an AGV vehicle running with complex termites, the truck is loaded with 15kg and is positioned by 1 LiDAR sensor. The LiDAR sensor will scan the surrounding environment and send the feedback back to the computer which is a Raspberry Pi 3. A map will be created based on those signals so that users can interact with that map to choose the destination.
Then the AGV will calculate the fast way to get to the destination. Expected products: The completed project will include an AGV with the following functions: the LiDAR sensor can scan and create a map, also detect obstacles to avoid during the journey and reach the destination with the maximum accuracy. AGV should be able to carry about 15kg, user can interact with the AGV on a display screen. Project delivery date: 15/03/2023 6.
Project submission date: 15/07/2023 i 7. Language used: Final report: English Vietnamese Presentation: English Vietnamese HEAD OF FACULTY HEAD OF DEPARTMENT INSTRUCTOR Allow to represent the project:. ii COMMITMENT - Project name: Research, design and build an AGV robot using LIDAR sensor for navigation. Tưởng Phước Thọ - Student: Phan An Đông ID: 19146113 Nguyễn Anh Minh ID: 19146093 Nguyễn Hòa Lộc ID: 19146092 - Phone number: o Đông: 0765044611 oMinh: 0795234178 o Lộc: 0966486148 - Email: oĐông: andong0108@gmail.com oMinh: anhminh0305@gmail.com o Lộc: jackreagan110@gmail.com - Address: oĐông: 806 Lô A chung cư Hà Đô, Nguyễn Văn Công, p3 Gò Vấp Tp.HCM oMinh: 228/1 Thống Nhất phường 10 Gò Vấp, Tp Hồ Chí Minh oLộc: 329/36 Điện Biên Phủ phường 4 quận 3, Tp Hồ Chí Minh - Project submission date: 15/07/2023 - Commitment: I would like to assure you that this graduation thesis is the work that we studied and carried out ourselves.
We do not copy from a published article without citing the origin. If there is any violation, we take full responsibility. Ho Chi Minh city, the of August 2023 iii ACKNOWLEDGMENTS Our team would like to express our sincere thanks to the board of trustees and teachers at the University of Technology and Education of Ho Chi Minh City. Ho Chi Minh in general and the teachers of Mechanical Engineering, Department of Mechanical Engineering Technology in particular, have been dedicated to teaching and conveying to us valuable knowledge and experience throughout the past time.
I'd like to take this opportunity to express my deepest appreciation to our instructor, "Mr. Tuong Phuoc Tho", whose excellent guidance and delicate efforts motivated me to consider and solve a variety of problems. His keen interest and encouragement, as well as making facilities available for our project work, served as a constant support and inspiration throughout the entire project. Finally, I express my gratefulness towards my family and friends, for their unconditional support and guidance towards the completion.
In addition, to all the individuals that helped us complete the final report, we are very appreciative to receive your feedback and instructions. I would like to tell you that it is tough to prevent errors while completing the project and writing the project report. At the same time, owing to limited logic and practical experience, the report cannot escape flaws; we are looking forward to hearing instructor feedback so that we may get more experience and complete the future report better. We sincerely thank you! iv TÓM TẮT ĐỒ ÁN NGHIÊN CỨU, THIẾT KẾ VÀ CHẾ TẠO ROBOT AGV SỬ DỤNG CẢM BIẾN LIDAR ĐỂ ĐỊNH VỊ.
Đồ án tập trung vào khai thác dữ liệu thu thập được từ cảm biến LiDAR để tạo ra bản đồ 2D của môi trường xung quanh, và dùng cái bản đồ đó cho nhiều mục đích khác nhau. Với sự trợ giúp từ phần mềm ROS (Robot operating system) và các thư viện chức năng hỗ trợ người dùng, xe AGV với cảm biến LiDAR có thể phát hiện vật cản động hoặc tĩnh và tránh né chúng bằng cách tính toán lại đường đi đến điểm đã chọn trước đó. Nhóm chúng em có gặp chút khó khăn trong phần tính toán chọn động cơ và phương án truyền dộng sao cho phù hợp với tốc độ và tải trọng đặt ra ban đầu. Kết quả của đồ án là một chiếc xe AGV với các kích thước là 500×400×600 (dài × rộng × cao) có tải trọng khoảng 15kg.
AGV có thể phát hiện vât cản và thiết lập lại đường đi dể tránh né, tuy nhiên với các vật cản nhỏ hơn tầm quét của cảm biến LiDAR thì sẽ không thể phát hiện được. Về hướng phát triển cho đồ án này, để giải quyết vấn đề các vật cản nhỏ hơn tầm quét của LiDAR thì ta có thể lắp thêm 1 camera để nhận dạng các vật đó, thay đổi động cơ và encoder thành các loại chuyên dụng trong công nghiệp để tăng tải trọng cũng như tốc độ của xe. ABSTRACT RESEARCH, DESIGN AND BUILD AN AGV ROBOT USING LIDAR SENSOR FOR NAVIGATION. The project focuses on harvesting the data collected by the LiDAR sensor to create a map of the surrounding environment, then store that map and use for multi other purposes.
With the help of ROS and coding, the AGV attached with LiDAR can avoid obstacles and calculate other routes when moving through the area to reach the destination. Our team were struggling a bit in the power calculation part, how to choose the suitable motor, the right transmission solution to achieve the desired speed and enough force to carry heavy loads. The result is an AGV with dimensions of 500×400×600 mm (length×width×height) capable of carrying out load approximately 15kg. The AGV can detect obstacles and avoid them, however for objects that are lower than the LiDAR, it cannot detect.
For this problem can be solve by install and programmed a camera to identify those objects. For further development of this project, the LiDAR can be upgraded to a better version, changed into industrial motors and encoders for better feedback data. v TABLE OF CONTENTS GRADUATION PROJECT TASKS. v TABLE OF CONTENTS.
vi LIST OF FIGURES. viii LIST OF TABLES. x LIST OF ABBREVIATIONS. xi CHAPTER 1: OVERVIEW.2 RESEARCH SITUATION NATIONALLY AND INTERNATIONALLY.4 AGVS FOR INDUSTRIAL USE.5 OBJECT AND SCOPE OF THE STUDY.
6 CHAPTER 2: MECHANICAL DESIGN.1 DESIGN REQUIREMENTS AND TRANSMISSION SELECTION. 11 CHAPTER 3: POWER CALCULATION.1 CALCULATION TO CHOOSE MOTOR.2 BELT TRANSMISSION CALCULATIONS.3 BELT'S TEST TORQUE FORCE. 21 CHAPTER 4: CONTROL METHOD.1 BASIC OPERATION DIAGRAM.2 RASPBERRY PI EMBEDDED COMPUTER.4 THE RPLIDAR SENSOR.6 WORKING FLOW – DATA PROCESS. 38 CHAPTER 5: PATH PLANNING.2 HOW SLAM WORKS.3 COMMON SLAM PROBLEMS.2 PATH PLANNING WITH ROS.2 PATH PLANNING – NAVIGATION METHOD.
75 GRADUATION THESIS EVALUATION FORM. 76 COMMENTS FOR THE GRADUATION THESIS. 78 GRADUATION THESIS EVALUATION SHEET. 82 vii LIST OF FIGURES Figure 1.1 KUKA's and OMRON's AGV product.2 AGV can transport big & heavy cargoes (1).3 AGV can transport big & heavy cargoes (2).4 An AMR working in a facility.5 Example of an AGV.6 Example of an AGV.2 Tooth belt transmitter.7 Completed frame design.1 Active force on AGV.1 Center of the Instantanous curve rotation.2 The robot coordinate system.3 Robot system model.4 Basic operation diagram.10 Structure of an Encoder.11 This is the encoder we use for this project.14 Pulse width adjustment cycle.16 PID control function graph.19 LED A returns the pulse signal before of LED B.20 LED B returns signal after LED A.21 Encoder's pulse return rule.22 Read the return signal.23 How PID was calculated.24 PID for 2 motors.26 PID response when change the velocity unexpected.27 PID response when change the speed suddenly (x10 times and x100 times).1 Example using SLAM & without SLAM.2 Visual based SLAM.3 LiDAR based SLAM.4 Errors in accumulated, mapping.5 Grid map method.6 Set up the working environments of ROS.7 New environment - not scan yet.8 Display map on screen after scanned.9 Dynamic Window Approach (DWA).10 Navigate algorithm diagram.11 DWA algorithm diagram.12 Scoring the velocity.13 Choose a destination on a stored map.14 Move to a destination - No obstacles.15 Detect an obstacle - proceed to change the path immediately.16 Reached the destination.1 The base of the mobile robot.2 2 main wheels and 4 caster wheels.3 Install all the control unit & transmission system.4 Frame of the mobile robot.5 Completed mobile robot.6 Map of the place we chose to do the experiment display on screen.7 Move from a position to another - mark with black tape.8 Measuring to see if the map was correct.9 The 2nd experiment - move in an L shape.10 The starting point and set the destination.11 Check the detection of obstacles.12 The mobile robot changed the route when encounter an obstacle.13 Describe pictures in the map and in reality.14 Travel in a crowded room.15 The route changed when there’s someone in front and return when they move away.
74 LIST OF TABLES Table 2.1 Basic mechanical parameter.1 Motor technical information.1 Pulse return of 2 motors.2 Experiment 2 - Deviation of starting position and destination. 69 x LIST OF ABBREVIATIONS AGV: Automated Guided Vehicle AMR: Autonomous Mobile Robot DSO (SLAM): Direct Sparse Odometry DWA: Dynamic Window Approach ICC: Instantaneous Center of Curvature IMUs: Inertial Measurement Units LSD-SLAM: Large-Scale Direct SLAM PE: Polyethylene (PE plastic) PID: Proportional–Integral–Derivative (PID controller) RGBD (camera): RGB refers to the color model in which the red, green, and blue primary colors of light are added to create different colors that we perceive, and D refers to Depth information. ROS: Robot Operating System SfM: Structure from motion SLAM: Simultaneous Localization and Mapping SVO (SLAM ): Semi-direct Visual-Inertial Odometry ToF (camera): Time-of-Flight camera UAV: Unmanned Aerial Vehicle Rviz: ROS visualization tool xi CHAPTER 1 CHAPTER 1: OVERVIEW 1. HISTORY During World War II, the first mobile robots appeared as a result of technical advances in some relatively new areas of research such as computer science and cybernetics.
1948-1949 Elmer and Elsie were two moveable robots equipped with light sensors, which, when they detected the light, moved there, and avoided obstacles along the way. Then more robots continue to be born and grow, they can find their own charging source when the battery is weak, built into the camera to move along the white line, or perform laning work. From 1966 to 1972 the Stanford Research Institute was building and conducting research on Shakey the Robot. Shakey has cameras, rangefinders, collision sensors and radio links.
Shakey was the first robot to deduce its actions.