Development of semi-autonomous mobile robot hardware-in-the-loop (HIL) simulation for indoor mapping

Hardware-in-the-loop (HIL) simulation has widely been used among automotive industry, traffic control, robotics, unmanned vehicle and many other industries. HIL test became new trends in embedded system testing since they provide the advantageous factor such as cost, safety and duration, which...

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Main Author:	Saesar, Luhur Budi
Format:	Thesis
Language:	English
Published:	2012
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.uthm.edu.my/2271/1/24p%20LUHUR%20BUDI%20SAESAR.pdf
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id	my-uthm-ep.2271
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spelling	my-uthm-ep.22712022-02-03T01:47:56Z Development of semi-autonomous mobile robot hardware-in-the-loop (HIL) simulation for indoor mapping 2012-05 Saesar, Luhur Budi TJ Mechanical engineering and machinery TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) Hardware-in-the-loop (HIL) simulation has widely been used among automotive industry, traffic control, robotics, unmanned vehicle and many other industries. HIL test became new trends in embedded system testing since they provide the advantageous factor such as cost, safety and duration, which is to be sought for most industries. In unmanned vehicle area, many robotics researchers have focused on the development of unmanned aerial vehicle (UAV) but not on unmanned ground vehicle (UGV). Hence, the research was intended to develop a control system architecture test for UGV using HIL simulation method. The research process had focused on control system architecture development based on HIL method along with kinematic-dynamic modeling, telemetry-visualization system and laser range finder (LRF) block in SIMULINK for mapping indoor environment. In this study, several tests were conducted to ensure the results meet the objectives. Telemetry test, sensing-mapping test and motion control test were done prior to the assembly system. The use of MATLAB SIMULINK toolboxes was to simplify the building, editing, monitoring and verifying the control system. The result was a control system architecture that applied HIL method and an alternative telemetry visualization. Kinematic-dynamic modeling was conducted to compare the path history between the simulation and the real test. An alternative telemetry�visualization system was achieved using the regular playstation joystick principle. From it an alternative sensor such as rotary encoder and inclinometer were able to be built. Furthermore, 3D virtual model of UGV and the environment test field were developed to ease the system monitoring. Finally, the control system architecture that was developed and proven would be useful for further development of UGV. Keywords : Hardware-in-the-loop; Simulation; SIMULINK; Unmanned Vehicle; Telemetry; Visualization. 2012-05 Thesis http://eprints.uthm.edu.my/2271/ http://eprints.uthm.edu.my/2271/1/24p%20LUHUR%20BUDI%20SAESAR.pdf text en public mphil masters Universiti Tun Hussein Onn Malaysia Fakulti Kejuruteraan Mekanikal dan Pembuatan
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English
topic	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery Saesar, Luhur Budi Development of semi-autonomous mobile robot hardware-in-the-loop (HIL) simulation for indoor mapping
description	Hardware-in-the-loop (HIL) simulation has widely been used among automotive industry, traffic control, robotics, unmanned vehicle and many other industries. HIL test became new trends in embedded system testing since they provide the advantageous factor such as cost, safety and duration, which is to be sought for most industries. In unmanned vehicle area, many robotics researchers have focused on the development of unmanned aerial vehicle (UAV) but not on unmanned ground vehicle (UGV). Hence, the research was intended to develop a control system architecture test for UGV using HIL simulation method. The research process had focused on control system architecture development based on HIL method along with kinematic-dynamic modeling, telemetry-visualization system and laser range finder (LRF) block in SIMULINK for mapping indoor environment. In this study, several tests were conducted to ensure the results meet the objectives. Telemetry test, sensing-mapping test and motion control test were done prior to the assembly system. The use of MATLAB SIMULINK toolboxes was to simplify the building, editing, monitoring and verifying the control system. The result was a control system architecture that applied HIL method and an alternative telemetry visualization. Kinematic-dynamic modeling was conducted to compare the path history between the simulation and the real test. An alternative telemetry�visualization system was achieved using the regular playstation joystick principle. From it an alternative sensor such as rotary encoder and inclinometer were able to be built. Furthermore, 3D virtual model of UGV and the environment test field were developed to ease the system monitoring. Finally, the control system architecture that was developed and proven would be useful for further development of UGV. Keywords : Hardware-in-the-loop; Simulation; SIMULINK; Unmanned Vehicle; Telemetry; Visualization.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Saesar, Luhur Budi
author_facet	Saesar, Luhur Budi
author_sort	Saesar, Luhur Budi
title	Development of semi-autonomous mobile robot hardware-in-the-loop (HIL) simulation for indoor mapping
title_short	Development of semi-autonomous mobile robot hardware-in-the-loop (HIL) simulation for indoor mapping
title_full	Development of semi-autonomous mobile robot hardware-in-the-loop (HIL) simulation for indoor mapping
title_fullStr	Development of semi-autonomous mobile robot hardware-in-the-loop (HIL) simulation for indoor mapping
title_full_unstemmed	Development of semi-autonomous mobile robot hardware-in-the-loop (HIL) simulation for indoor mapping
title_sort	development of semi-autonomous mobile robot hardware-in-the-loop (hil) simulation for indoor mapping
granting_institution	Universiti Tun Hussein Onn Malaysia
granting_department	Fakulti Kejuruteraan Mekanikal dan Pembuatan
publishDate	2012
url	http://eprints.uthm.edu.my/2271/1/24p%20LUHUR%20BUDI%20SAESAR.pdf
_version_	1747830933129527296

Development of semi-autonomous mobile robot hardware-in-the-loop (HIL) simulation for indoor mapping

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