PERCEPTION AND AUTONOMOUS NAVIGATION SYSTEM DESIGN AND IMPLEMENTATION OF UNMANNED GROUND VEHICLE USING ROBOT OPERATING SYSTEM FRAMEWORK

• Main Author: Justin, Christian
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/56161
• Institution: Institut Teknologi Bandung

Autonomous robots are intelligent machines capable of performing tasks in the world by themselves, without explicit human control. Autonomous mobile robots, currently, come in a wide range of form factors. One application of the use of autonomous robots is Mechanical Handling Equipment in the warehouse area. The transformation from manual product handling to automatic is carried out as an effort to automate warehousing. In this paper, we will implement a prototype of an autonomous vehicle capable of moving from one location to another in an indoor warehouse environment. Implementation begins by dividing the navigation system into three sub-systems, namely perception, decision maker, and actuator. Perception subsystem designed in order to be able to perceive the environment around the vehicle. An understanding of the surrounding environment is achieved based on the data that has been acquired by the sensors. Decision maker subsystem is designed in order to be able to determine the best alternative based on the tasks given and the information received along the way. The actuator subsystem is designed to be able to convert digital commands into a hardware movement, such as a motor or steering wheel. The conclusion obtained from this paper is that the vehicle is able to understand the state of the surrounding environment and is able to move from one location to another with certain errors, which are caused by distortion and sensor noise.