Design and development of an optical tracking system for holonomic mobile robot

Choo, Chee Wee (2011) Design and development of an optical tracking system for holonomic mobile robot. Masters thesis, Universiti Malaysia Sabah.


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The main task of a mobile robot is to perform navigation and positioning. Common mobile robot which employs line tracking system can only work on pre-constructed track where else infrared guided robot only can work within infrared's line of sight. In addition to that, the wheel driving system of the mobile robot plays a vital role in allowing the robot to navigate along a limited direction depending on its wheel architecture. To steer a robot in any direction and to know its precise location in the environment is the ultimate goal of mobile robot navigation. To achieve this, a methodology is laid out in this thesis. An Optical Tracking Device (OTD) module is utilized to provide the accurate coordinates of the current location of the robot virtually on many flat surfaces. A holonomic wheel system is designed to allow the robot to navigate through multiple destinations. A navigation algorithm is developed to position the robot to any point accurately on a flat surface. As a result, this will allow the robot to freely move in any direction to reach multiple target destinations without any difficulties. The navigation and the positioning device could be implemented in industrial robots that especially required navigating to different points of a workspace, such as carrying goods from one point to another, and also patrolling robots within a workspace. This thesis also covers experimented result of the OTD that could detect up to a resolution of 1000 dots per inch. Nine points were designated to test the OTD on a test grid. The testing process is repeated for 10 times. The result shows that the mobile robot is able to navigate holonomically according to preprogrammed paths with difference of not more than 0.1 inch (3 mm) from the targeted location or with less than 5% error. This work allows a high precision positioning system design for a robot that are also less dependent to the outside environment, and utilizes the workspace with higher efficiency compared to robots using conventional sensors.

Item Type: Thesis (Masters)
Uncontrolled Keywords: Robot, Holonomic robot, Mobile robot, Optical tracking system
Subjects: ?? TJ210.2-211.47 ??
Divisions: SCHOOL > School of Engineering and Information Technology
Depositing User: Unnamed user with email
Date Deposited: 26 Jan 2012 06:49
Last Modified: 14 Nov 2017 07:19

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