MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING GRADUATION PROJECT ELECTRONICS AND COMMUNICATIONS DESIGN AN AUTOMATIC MAPPING VEHICLE USING RPLIDAR LECTURER: TRUONG NGOC SON STUDENT: TRAN QUANG THIEN TRAN PHI VU SKL012496 Ho Chi Minh City, September 2023 HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FALCUTY OF INTERNATIONAL EDUCATION -----------------⸙∆⸙----------------- GRADUATION THESIS DESIGN AN AUTOMATIC MAPPING VEHICLE USING RPLIDAR Student: TRAN QUANG THIEN ID: 19161005 Student: TRAN PHI VU ID: 19161003 Major: ELECTRONICS AND COMMUNICATIONS ENGINEERING Advisor: TRUONG NGOC SON, PHD. Ho Chi Minh City, September 2023 i THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -------- Ho Chi Minh City, September ., 2023 GRADUATION PROJECT ASSIGNMENT Student name: Tran Quang Thien Student ID: 19161005 Student name: Tran Phi Vu Student ID: 19161003 Major: Electronics and Communications Class: 19161CLA Engineering Advisor: Ph.D Truong Ngoc Son Phone number: 0931085929 Date of assignment: …………… Date of submission: …………. Project title: DESIGN AN AUTOMATIC MAPPING VEHICLE USING RPLIDAR 2. Content of the project: - Research and implement omni wheel into the Mobile Robot.
- Research and implement ROS into the Mobile Robot. - Research a solution to supervise and remotely control robot. - Design and build hardware robot. - Programming to control the robot’s movement.
- Experiment and improve robot’s flexibility. - Evaluate result and write thesis. Final product: The complete of an automatic mapping vehicle CHAIR OF THE PROGRAM ADVISOR (Sign with full name) (Sign with full name) THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -------- Ho Chi Minh City, September …, 2023 ADVISOR’S EVALUATION SHEET Student name: Tran Quang Thien Student ID: 19161005 Student name: Tran Phi Vu Student ID: 19161003 Major: Electronics and Communications Engineering Project title: DESIGN AN AUTOMATIC MAPPING VEHICLE USING RPLIDAR Advisor: Ph.D Truong Ngoc Son EVALUATION 1. Content of the project:.
Approval for oral defense? (Approved or denied). Ho Chi Minh City, (month day, year) ADVISOR (Sign with full name) THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -------- Ho Chi Minh City, September …, 2023 PRE-DEFENSE EVALUATION SHEET Student name: Tran Quang Thien Student ID: 19161005 Student name: Tran Phi Vu Student ID: 19161003 Major: Electronics and Communications Engineering Project title: DESIGN AN AUTOMATIC MAPPING VEHICLE USING RPLIDAR Name of Reviewer:. Content and workload of the project. Approval for oral defense? (Approved or denied).
Reviewer questions for project valuation .) Ho Chi Minh City, (month day, year) REVIEWER (Sign with full name) THANK YOU First and foremost, we want to convey our sincere gratitude to the educators at Ho Chi Minh City University of Technology and Education, especially those in the High-Quality Engineering Department. Our heartfelt thanks go to Dr. Truong Ngoc Son, whose unwavering support and encouragement, as well as diligent monitoring of our research progress, have been invaluable. We also appreciate the thesis examiners and members of the defense committee for their time, feedback, and assistance during the thesis defense.
We extend our thanks to our families, friends, and classmates in the 19161CLA, whose mutual support has been crucial throughout our four years of study. In conclusion, we extend our best wishes to the students, faculty, and staff of Ho Chi Minh City University of Technology and Education. We wish them good health and continued success in the university's future development. ABSTRACT The thesis project “DESIGN AN AUTOMATIC MAPPING VEHICLE USING RPLIDAR” have the main task is to design a mobile robot model with compact design, the ability to build indoor environment maps and move to other areas point on the map.
Utilizing a fusion of Lidar technology sensors and algorithms to determine the most efficient route to a destination, the system is constructed on the ROS platform—Robot Operating System, an open operating system that incorporates various tools for facilitating robot development. Additionally, researchers have crafted an omni-wheel robot system designed for optimal indoor mobility. They implemented a PID controller to regulate the robot's speed and rotational angular speed, ensuring it attains the desired velocity. Furthermore, programming was executed to seamlessly integrate ROS into the holonomic robot, empowering it with mapping and obstacle avoidance capabilities.
Another notable feature involves the manual supervision and control of the robot's speed and location through a local monitor. Table of Contents CHAPTER 1.2 Compare omni wheel robot with normal wheel robot .3 Compare omni 3 wheel with 4 wheels .4 Dynamic Kinematic of the mobile robot .2 ROS – Robot Operating System .1 Introduce to ROS [3] .2 ROS Computation Graph Level .1 Introduce to SLAM (Simultaneous localization and mapping) .2 Costmap configuration process .4 Algorithm for global planner and local planner .1 A* algorithm for global planner .2 Dynamic Window Approach algorithm to avoid object for local planner .1 The search spaces .6 Control motor with PID algorithm .1 Introduce PID controller .2 Ziggler Nichol II: Tunning PID parameters Ziggler – Nichols II .7 Low-pass Filter. DESIGN OF ROBOT .1 Overview robot hardware.1 General diagram of the system .2 Devices used in the project .1 Calculate power for choosing motor .2 Raspberry Pi 4 – 2GB .1 Robot control program .1 Robot control program in ROS .2 The PID control program .2 Integrate system in ROS .1 Hector SLAM mapping algorithm. EXPERIMENTS AND RESULTS.
CONCLUSION AND IMPROVEMENT .57 Table of Figure Figure 1-1: Some self-propelled robot products. 2 Figure 2-1: Three-wheel omni robot movement example. 4 Figure 2-2: Some type of omni wheel. 5 Figure 2-3: Robot using normal wheel.
5 Figure 2-4: Robot using omni wheel. 6 Figure 2-5: Four-wheel omni robot movement. 7 Figure 2-6: Setting the axis of the robot. 9 Figure 2-7: Robot's movement.
10 Figure 2-8: Robot model with ROS. 12 Figure 2-9: Stack structure in ROS. 13 Figure 2-10: Navigation stack model in ROS [5]. 20 Figure 2-15: Shortest path for robot tu run from 〇 to △.
21 Figure 2-16: Allowed velocity Va in DWA. 22 Figure 2-17: Velocity Vd in DWA. 22 Figure 2-18: Heading of robot in DWA. 23 Figure 2-19: Integrate ROS for robot.
24 Figure 2-20: PID controller for system. 24 Figure 3-1: General diagram robot. 29 Figure 3-2: Detail block diagram robot modules. 30 Figure 3-3: Wiring diagram of robot base.
30 Figure 3-4: Wiring diagram for Raspberry, Lidar and Arduino. 31 Figure 3-5: Force analysis diagram. 32 Figure 3-6: Encoder motor JGB-520 178rpm. 34 Figure 3-7: Last motor is suitable for robot.
34 Figure 3-8: Raspberry's components. 35 Figure 3-9: Schematic diagram of H bridge. 36 Figure 3-10: Internal circuit diagram of module L298N. 37 Figure 3-11: Arduino mega 2560 board.
39 Figure 3-13: Lipo 3S 2200 mAh 40C 11. 40 Figure 3-14: Omni wheel 58mm. 40 Figure 4-1: Flowchart controlling robot in ROS. 41 Figure 4-2: Transfer data from joystick to setpoint for robot.
42 Figure 4-3: Joystick GUI. 42 Figure 4-4: PID diagram. 43 Figure 4-5: Build a static map from laser. 45 Figure 4-6: Start up lidar on Rviz.
46 Figure 4-7: Robot take data from Lidar and draw map on Rviz. 46 Figure 4-8: Use scanning matching to extend map. 47 Figure 4-9: Full map. 47 Figure 5-1: Omni robot base running with angle = 63.
50 Figure 5-2: Robot can move with any angle. 51 Figure 5-3: Clone the git into the Raspberry. 52 Figure 5-4: Run roslaunch. 52 Figure 5-5: Map on Rviz.
52 Figure 5-6: Completed map. 53 Figure 5-7: Completed robot. 54 List of Abbreviations ARM Autonomous mobile robot AGV Autonomous guided vehicle DWA Dynamic Window Approach ROS Robot Operating System IMU Inertial Measurement Unit Universal Asynchronous Receiver/ UART Transmitter SLAM Simultaneous localization and mapping CHAPTER 1: OVERVIEW CHAPTER 1.1 Introduction In the age of advancing technology and continuous scientific breakthroughs, the prospect of personal robots becoming as ubiquitous as PCs or mobile phones is on the horizon. Robots have evolved into a crucial and integral aspect of daily life, with autonomous robots emerging as effective tools in various fields.
The progress in mechatronics has led to the refinement of self-propelled robots, finding widespread applications in industries, commerce, healthcare, and science. They offer numerous advantages to society, gradually replacing human labor in hazardous and toxic environments, rapidly enhancing labor productivity, and actively contributing to the industrialization and modernization processes globally.Given the immense benefits robots bring to humanity, their usage is increasingly prevalent today, featuring diverse sizes, designs, and operational methods, all aimed at aiding humans. Autonomous robots employ various navigation techniques, such as recognizing floor barcodes, capturing environmental images, or utilizing laser-scanning sensors. However, regardless of their form, these robots grapple with three fundamental challenges.
Firstly, they must determine their position within a reference coordinate system. Secondly, they need to autonomously devise a plan to navigate and avoid obstacles. Lastly, during the execution of these tasks, robots must comprehend their surroundings through sensors, constituting the cognitive process.Understanding and addressing these challenges demand significant time and effort for in-depth study and research, requiring researchers with high levels of expertise and extensive knowledge. In Vietnam, the utilization of self-propelled cars is not yet widespread due to technological accessibility challenges.
However, to meet the evolving needs of life, there is a compelling need to further promote the development and application of autonomous robots. Hence, the research team has chosen the topic "A holonomic mobile robot for transportation of goods in a warehouse using RPLiDAR" to delve into and expand their knowledge, aiming to accumulate valuable experience for the prospective advancement of autonomous vehicles. 1 CHAPTER 1: OVERVIEW Figure 1-1: Some self-propelled robot products 1.2 Robot’s objective The objective of the thesis: Build a holonomic robot using the 4 omni-directional wheels model. Research and implement ROS into the mobile robot for remote control.
Implement Hector SLAM algorithm to map the working environment. Implement Navigation Stack package to navigate.3 Research method Considering the indoor operating environment of the robot, our group delved into researching and designing the hardware to support a robot capable of carrying a circular load on top, facilitating seamless movement within indoor spaces. Achieving precise and smooth movement necessitates that the robot's motors can handle both loaded and unloaded conditions. In the initial phase of our research, we focused on selecting a controller for the robot, exploring options like fuzzy controllers, sliding controllers, PID controllers, among others.
Opting for the PID controller was a strategic choice, given its established effectiveness and wide application in industrial control systems. Subsequently, we delved into researching the ROS (Robot Operating System) model and its relevance to our project. Our team studied and implemented ROS on the Ubuntu operating system, installed on the embedded Raspberry Pi computer. 2 CHAPTER 1: OVERVIEW In addition, we conducted research on utilizing the lidar sensor, engaged in map scanning, and configured the robot's axis using ROS.
Our investigation extended to exploring algorithms for determining the shortest path, optimizing obstacle avoidance for the robot, and validating our findings.Furthermore, research how to use the lidar sensor, performed map scanning, and set up the robot's axis using ROS. They searched for algorithms to find the shortest path, optimize obstacle avoidance for the robot, and verified their findings.4 Thesis’s content This thesis includes the following: Chapter 1: Overview (Introduction to current research and proposals relating to the project, choose the suitable devices for application, introduction to the software) Chapter 2: Theoretical basis (Introduce omni wheel robot model and ROS systems) Chapter 3: Hardware Design (Requirements of the system, hardware design, connect the hardware and software). Chapter 4: Software Design (Requirements of the system, software design). Chapter 5: Experiments and Results (Survey PID controller, robot kinetic and navigation).
Chapter 6: Conclusion and Improvement. 3 CHAPTER 2: THEORITICAL BASIS CHAPTER 2.