Simultaneous localization and mapping (slam) system for indoor manuvering of an autonomous guided vehicle (agv)

• Main Author: Ho, Nicholas Wei Ping
• Other Authors: Poenar Daniel Puiu
• Format: Final Year Project
• Language: English
• Published: 2017
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation
• Online Access: http://hdl.handle.net/10356/70903
• Institution: Nanyang Technological University

There has been a growing trend and need for the usage of UAV (Unmanned Aerial Vehicle) and AGV (Autonomous Ground Vehicle) across the world. It can be derived from the usage of both military and civilian life to perform human’s duty. Namely in the military, these autonomous vehicles are used to replace human in most of the dangerous activities so that precious life would not be lost. The usage of Autonomous Ground Vehicle can be dated back to the early 1930s where the first AGV is created for military usage. In my project, an autonomous UAV or AGV would be created with particular codings to implement the main objective: autonomous navigation with obstacle avoidance. Different vehicles would be implemented with codes to fulfill the project objective. However, only a particular type of sensor navigation would be formulated due to various time constraints. The sensor navigation is formed from the different parts of research done during the process of the original stage. This would be elaborated in the following paragraphs of the report. The whole report will cover the different parts of the process of building the hardware and software of sensor navigation. However, it will start of with a slight introduction on the background of obstacle avoidance and the term “autonomous”. The project ideas will be discussed next on how various implementations could be done to a UAV, which would then be elaborated lastly with a ground vehicle, AGV. The overall concept would be ended off with sensor navigation. The report will end off with the problems encountered by the author and any other implementations that could be added on for future works.