Automated Guided Vehicle Using Robot Operating Systems

摘要

This paper focuses on proof of concept prototype modeling and development of fully autonomous guided robot using embedded controller integrated with GUI Robotic operating systems, which can be used to carry goods and materials at industry, hotels and so many environment. AGV is made up with latest sensors like Oblu which is an IMU sensor, Kinect and software for localization and mapping parallelly. The software part of this robot is mainly implemented using the python programming language and software frameworks, such as Robot operating system(ROS), Open-CV, Open-Ni, Qt. The proposed control system includes solution for the self-localization, automatic accurate path finding and motion control. From the experimental result robot can work freely in indoor environment and reach the goal accurately is proved. We will present the complete overview of prototype architecture and mechanism. This AGV equipped with 3D vision camera sensor and IMU oblu sensor which is capable of travelling self guided path. It is fundamentally in charge of assignment allotment, planning and path management. also we will show a proof of concept with actual model. Oblu gives the 98% accurate reading of velocity, distance and angle by which the path planning accuracy gets high.