Payload handler for mobile robotic platform in a restaurant setting

• Main Author: Chong, Yi Sheng
• Other Authors: Seet Gim Lee, Gerald
• Format: Final Year Project
• Language: English
• Published: 2018
• Subjects: DRNTU::Engineering::Mechanical engineering
• Online Access: http://hdl.handle.net/10356/75746
• Institution: Nanyang Technological University

Mobile robots come in different forms and have recently been employed in various fields. The robots help people to carry out heavy objects in manufacturing and construction. The robots help people to handle hazardous materials in laboratory environment. In this project, a mobile robot is proposed to work in service industry which is in restaurants. The robot aims to provide a solution to the restaurants who are frequently arranging their furniture for different business time. The robot would assist in the repetitive and heavy task. This project is using a prototype which has holonomic platform and modular lifting mechanism. The holonomic platform is running Ubuntu and ROS which contains the program codes for its tasks. The platform is communicating with the lifting mechanism via an Arduino Board. The robot would be navigated in an environment to search for tables and chairs. The tables and chairs are carried and transported to the desired location and arrangement. This project would focus on developing algorithm in detecting tables and chairs via a laser scanning range finder. The detection results would be then utilized in navigating the robot to approach the table or chair, then carry it to another location.