MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING GRADUATION PROJECT MANUFACTURING TECHNOLOGY RESEARCH AND DESIGN OF AGV USING SLAM (ROS) SYSTEM LECTURER: PhD. VU QUANG HUY STUDENT: TRAN QUOC HUY NGUYEN VAN SON SKL012646 Ho Chi Minh City, March 2024 HO CHI MINH UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY OF INTERNATIONAL EDUCATION GRADUATED PROJECT RESEARCH AND DESIGN OF AGV USING SLAM (ROS) SYSTEM LECTURER: PhD. VU QUANG HUY STUDENTS: TRAN QUOC HUY 19146080 NGUYEN VAN SON 19146116 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 GRADUATION PROJECT TASK Instructor: Dr. Vu Quang Huy Students: 1.
Nguyễn Văn Sơn ID: 19146116 Phone No: 0968823600 2. Trần Quốc Huy ID: 19146080 Phone No: 0898796821 1. Project Number Name: Research, and design an AGV motor using SLAM (ROS) 2. Early figures and documents The AGV has the original specifications in dimensions of 281×281×156 (length × width × height).
The material will be acrylic for the base and aluminum for the frames, it can carry up to 10kg with a maximum speed of 0,5 m/s, and the accuracy is expected to be about 80%. Main Project Investigate and construct an AGV truck that can operate in complicated termite warehouses. It has a 10 kg payload and is guided by a single LiDAR sensor. The Raspberry Pi 3 computer will get feedback from the LiDAR sensor once it has scanned the surrounding area.
Based on such signals, a map will be created, which users may interact with to select their destination. The quickest route to the destination will then be determined by the AGV. Expected Project When the project is finished, an AGV will have the ability to scan and make a map, identify potential hazards ahead of time, and go as accurately as possible to its destination. AGVs can handle up to 10 kg in weight, and they have a display screen that allows users to communicate with them.
Project delivery date 6. Project submission date 7. Language used Final report: English Presentation: English HEAD OF FACULTY HEAD OF DEPARTMENT INSTRUCTOR TABLE OF CONTENT ABSTRACT. Introduction about AGV.
Structure of AGV system. Research nationally and internationally about AGV. Object and scope of the study. Object of the study.
Scope of the study. Graduation project structure. 13 CHAPTER 2: FUNDAMENTAL THEORY. Robot’s Kinematics and Robot’s Dynamics.
How SLAM works. Common challenges with SLAM. Path Planning with ROS. Definition of ROS.
Dynamic Window Approach (DWA). Path Planning and Navigation. 33 CHAPTER 3: CALCULATION DESIGN. Design requirements and transmission selection.
Control system design. 51 CHAPTER 4: IMPLEMENT, EXPERIMENT AND ANALYSES. DC Servo JGA-370-CE. The RPLidar sensor.
70 LIST OF FIGURES Figure 1. Unit load AGV. Manufacturing Industry AGV. Warehousing and Distribution AGV.
Logistic and Supply Chain AGV. Agriculture and Farming AGV. Omron and KuKa AGV products. Instantaneous Center of Curvature.
Robot Coordinate system. Robot system model. Benefits of SLAM for Cleaning Robots. SLAM Processing Flow.
Structure from motion. Point cloud registration for RGB-D SLAM. SLAM in 2D Lidar. SLAM in 3D Lidar.
Dynamic Window Approach. DWA Algorithm Diagram. PID controller graph. PID controller function parameter.
AGV mechanical options. DC Servo JGA. Principle diagram MPU 6050. Install control unit & transmission system.
Completed mobile robot. Grid map method. Setup the environment. Choose a target position on the map.
Move from a position to another - mark with black tape. Result Experiment 1 in bar chart. The second experiment - moving U shape. Result Experiment 2 in bar chart.
Check the detection of obstacles. The mobile robot changes the route when encounter the obstacle. Describe picture in the map and reality. 68 LIST OF TABLES Table 1.
Raspberry Bi 4 specifications. Describes Experiment 2 - Deviation of starting position and destination.65 ABSTRACT Our country is becoming more and more modernized and industrialized. Compared with other powers to catch up with them in development, our country's industry needs to have access to modern technologies and equipment. Technology engineers need to be equipped with broader and new knowledge to be able to meet the needs of accelerating the country's development.
Robot engineering technology has been and will be widely applied in many countries. It brings us many benefits in terms of productivity, and high job efficiency in many fields such as industrial production, medicine, society, space exploration, etc. However, in the robotics industry In our country, the scale is quite large, but the quality is not high due to limitations in science and technology, machinery and equipment are still rudimentary, so labor productivity is only average. An automated guided vehicle is the most famous robot used in foreign companies to transport automatic products.
We are going to search and do this project to figure out the information about this robot, which can improve our skills and have an overview of the engineer. The scientific significance of the topic: Bringing lots of advances in the application of modern science and technology to the production process, which is the basis for building automated processes with the best equipment and machines. In addition, it can also show that students' understanding is increasingly enhanced when they have mastered the basic knowledge of science and creatively and effectively apply it to life. Keywords: AGV, Automated Guided Vehicle, IR sensor, Ultrasonic sensor, Arduino… 1 THESIS ACKNOWLEDGMENT We would like to express our deepest appreciation to our esteemed advisor, Mr.
Vu Quang Huy, for his invaluable guidance and support throughout the completion of this report. His wisdom and expertise have been crucial in steering us in the right direction, ensuring our focus and dedication until the culmination of our efforts. To our close companions who have accompanied us on this transformative four- year university journey, we owe a debt of gratitude. Amidst the challenges of student life, you have been our pillars of strength, offering assistance when needed and sharing in our triumphs and struggles.
In times of difficulty, the strong bonds of friendship have illuminated our path and rejuvenated our spirits. We are profoundly grateful to our beloved parents and cherished loved ones for their unwavering support, continuous encouragement, and steadfast belief in our abilities. Their presence has provided us with the strength and determination to see this project through to completion. Their love and encouragement have been the driving force behind our endeavors, and we are forever thankful for their unwavering faith in us.
Additionally, we extend our thanks to Ho Chi Minh City University of Technology and Education and the Faculty of High-Quality Training for providing us with the necessary resources and support to undertake our graduation project. In conclusion, we wish to convey our deepest gratitude to our parents, loved ones, friends, advisors, and our university for their unwavering support, guidance, and contributions to our academic journey. Without their presence and influence, our success and personal growth would not have been possible. Their contributions have been invaluable, and we will always cherish the profound impact they have had on our lives.
History The history of Automation Guide Vehicles (AGVs) traces back to the mid-20th century, with the development of early automated material handling systems. Here's a brief overview of key milestones in the history of AGVs: 1950s: The concept of AGVs began to emerge in the 1950s, primarily driven by the need for automation in manufacturing and material handling industries. Early AGVs were simple vehicles guided by wires embedded in the floor or by magnetic tape. 1960s: AGV technology continued to evolve in the 1960s, with the introduction of more sophisticated guidance systems such as radio frequency (RF) and optical navigation.
These advancements enable AGVs to navigate more complex environments and perform a wider range of tasks in industrial settings. 1970s: The 1970s saw further advancements in AGV technology, including the development of onboard computers and sensors for obstacle detection and navigation. AGVs began to gain traction in industries such as automotive manufacturing, where they were used for parts delivery and assembly line logistics. 1980s: During the 1980s, AGVs became more widespread in industries such as warehousing, distribution, and logistics.
The introduction of laser guidance systems allows AGVs to navigate without the need for physical infrastructure like wires or tapes, making them more flexible and adaptable to changing environments. 1990s: In the 1990s, AGV technology continued to mature, with improvements in sensors, software, and communication systems. AGVs became more integrated with other automation technologies such as robotics and warehouse management systems, enabling seamless operation in complex industrial environments. 2000s: The 21st century brought significant advancements in AGV capabilities, driven by innovations in artificial intelligence, machine learning, and sensor technology.
AGVs became smarter, more agile, and more autonomous, capable of performing a wide range of tasks with minimal human intervention. 3 2010s and Beyond: In recent years, AGVs have seen widespread adoption across various industries worldwide, driven by the need for increased efficiency, productivity, and safety. Today's AGVs are equipped with advanced features such as real-time data analytics, predictive maintenance, and collaborative robotics, enabling them to revolutionize the way goods are transported and managed in the digital age. Overall, the history of AGVs reflects a trajectory of continuous innovation and technological advancement, with these vehicles evolving from simple guided carts to sophisticated autonomous systems that are reshaping the future of transportation, logistics, and manufacturing.
Introduction about AGV An automatic guided vehicle system (AGVS) consists of one or more computer- controlled, wheel-based load carriers (normally battery-powered) that run on the plant or warehouse floor (or outdoors on a paved area) without the need for an onboard operator or driver. (MHI) An automated guided vehicle or automatic guided vehicle (AGV) is a mobile robot that follows markers or wires in the floor or uses vision or lasers. They are most often used in industrial applications to move materials around a manufacturing facility or a warehouse. The term "automated guided vehicle" (AGV) is a general one that encompasses all transport systems capable of functioning without driver operation.
The term "driverless" is often used in the context of automatic guided vehicles to describe industrial trucks, used primarily in manufacturing and distribution settings, that would conventionally have been driver-operated A materials handling system that uses automated vehicles such as carts, pallets or trays which are programmed to move between different manufacturing and warehouse stations without a driver. These systems are used to increase efficiency, decrease damage to goods and reduce overhead by limiting the number of employees required to complete the job. Some types of AGV vehicles: 4 Each type of goods has different requirements when storing and transporting, so there are multiple shipping methods. In the factory, there are usually 3 types of AGV, this type of AGV covers most transportation jobs.
• Unit load AGV vehicles In simple terms, these robots are portable and autonomous cargo delivery systems that are able to travel around a warehouse or facilities performing different AGV navigation technologies. These fascinating robots are mainly used for industrial transport of goods and heavy materials around warehouses or storage facilities. A unit load AGV is a powered, wheel based transport vehicle that carries a discrete load, such as an individual item or items contained on a pallet or in a tote or similar temporary storage medium. Unit load AGV • AGV forklifts An Automatic Guided Forklift also known as ALT is a Self-Driving computer- controlled Forklift.
So a forklift moving around and transporting goods by its own without human intervention, it's just a driverless forklift. It is the typical automated guided vehicle (agv) with forks.