DESIGN AND IMPLEMENTATION OF COMMUNICATION, INTERFACES, AND POWER SUBSYSTEMS IN UNMANNED GROUND VEHICLE WITH SLAM AND AUTONOMOUS NAVIGATION
One of the processes that are currently of concern to the industry in entering the era of the industrial revolution 4.0 is in the logistics sector, namely in terms of storing products produced in warehouses using manual forklifts which are still considered ineffective, inefficient, and cause l...
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| Format: | Final Project |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/56351 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | One of the processes that are currently of concern to the industry in entering the era of the
industrial revolution 4.0 is in the logistics sector, namely in terms of storing products produced
in warehouses using manual forklifts which are still considered ineffective, inefficient, and
cause losses. One part of the solution to overcome this problem is to implement an autonomous
navigation system on the forklift so that the forklift can be controlled at a minimum by the user
remotely. Therefore, in this paper, we will describe the design and implementation process of
an unmanned vehicle that implements the SLAM system and autonomous navigation so that it
can move independently in an indoor environment. The product is implemented using the ROS
Framework so that the product is able to implement a system of mapping, localization, and
path planning. In addition, an interface design (user interface) and communication mechanism
between the product and the user are also made wirelessly so that users can control the product
remotely. The interface design on this system uses a desktop application that can be used on
Windows-based devices. The communication system is implemented using the Websocket
communication protocol, and utilizes the ROS.NET library and the rosbridge suite as a
constituent of the client and server. As a support for movement, a power storage mechanism is
also needed so that the product can move without always being connected to the grid |
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