DESIGN AND IMPLEMENTATION OF COMMUNICATION, INTERFACES, AND POWER SUBSYSTEMS IN UNMANNED GROUND VEHICLE WITH SLAM AND AUTONOMOUS NAVIGATION

• Main Author: Margaretta Simarmata, Lisa
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/56351
• Institution: Institut Teknologi Bandung

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