The Development of a Wise Automated Guided Vehicle for Indoor Localization, Navigation, and Data Collection in Manufacturing Facilities

• Main Authors: WU, CHI-HONG, 吳啓鴻
• Other Authors: CHIANG, HSIN-HAN
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/2crw4x

碩士 === 國立臺北科技大學 === 電子工程系 === 107 === Under the current trend of Industry 4.0 in manufacturing, an intelligent robotic platform that features wireless communication and transportation is required in order to manage the production line more conveniently and improve production efficiency. This thesis aims to develop a wise automated guided vehicle (WAGV) that can favor manufacturing facilities. The Robot Operating System (ROS) is adopted to develop various functional modules for the WAGV, including simultaneous localization and mapping (SLAM), automatic navigation, proximal positioning, and data collection. These modularized functions can effectively facilitate the task dispatch directed from the cloud system. Using WAGV to perform SLAM before the navigation started to establish a map. Then, according to the map and laser information to do the navigation. Performing proximal localization through a specific area to carry the cargo rack or do the charging task. The information of WAGV is sent to the cloud system, when WAGV executed the navigation task. The development of autonomous navigation was achieved through three phases: learning stage, implementation stage, and testing stage. In the learning stage, the path patterns are defined and recorded for further study of the behavior control of WAGV in real-world environments. Then, several motion and positioning algorithms are developed in the implementation stage for the differential drive mobile platform by means of advanced tools and methods in order to compensate errors between simulation and experiment. In the testing stage, the control strategies of WAGV are integrated to verify various operations such as localization, path planning, and trajectory tracking necessary for autonomous navigation on an arbitrary path. Finally, the developed WAGV, with the connection of cloud dispatch center, is evaluated for the assembly lines alongside human workers in a factory setting. The successful demonstration of related solutions yields the opening avenues and potentials to the product market.