Design and developement of autonomous omni-directional mobile robot with mecanum wheel /
The main purpose of this research is to design, develop and implement an omni-directional mobile robot with custom made mecanum wheel for autonomous navigation. Using these mecanum wheels, the mobile robot is provided with three degree of freedom (DOF) mobility. Attention also paid for the developme...
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| Format: | Thesis Software eBook |
| Language: | English |
| Published: |
Perlis
Universiti Malaysia Perlis (UniMAP)
2007.
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| Summary: | The main purpose of this research is to design, develop and implement an omni-directional mobile robot with custom made mecanum wheel for autonomous navigation. Using these mecanum wheels, the mobile robot is provided with three degree of freedom (DOF) mobility. Attention also paid for the development of kinematics and dynamics model to analyze the mobile platform motion performances. Motor driver and robot controller were also developed. Motion control algorithm using BasicStamp Editor software was developed to test the capabilities of the system's mobility performance. Experiments were performed to analyze the motion characteristic of the mobile robot motion in Y axis, X axis and differential drive capabilities. Using ultrasonic and line follower sensors, basic autonomous navigation had been develop and tested. Based on the experiment conducted, the autonomous navigation gave satisfactory result. The developed mobile robot will provide a test bed for advanced path planning and navigation projects in the future. |
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| Item Description: | Tesis Sajana Sains Kejuruteraan Mekatronik Accompanied by CD-ROM (901000005) |
| Physical Description: | xiv, 113 p. ill 30 cm. + 1 CD-ROM (4 3/4 in.) |
| Format: | System requirements: Adobe acrobat reader |