Multi-sensor fusion for automated guided vehicle positioning

This thesis presents positioning system of Automated Guided Vehicles or AGV for short, which is a mobile robot that follows wire or magnetic tape in the floor to navigate from point to another in workspace. AGV serves in industrial fields to convey materials and products around the manufacturing...

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Main Author:	Ahmed Elshayeb, Said Abdo
Format:	Thesis
Language:	English English
Published:	2010
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.uthm.edu.my/3600/1/24p%20SAID%20ABDO%20AHMED%20ELSHAYEB.pdf http://eprints.uthm.edu.my/3600/2/SAID%20ABDO%20AHMED%20ELSHAYEB%20WATERMARK.pdf
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spelling	my-uthm-ep.36002022-02-03T01:53:32Z Multi-sensor fusion for automated guided vehicle positioning 2010-07 Ahmed Elshayeb, Said Abdo TJ Mechanical engineering and machinery TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) This thesis presents positioning system of Automated Guided Vehicles or AGV for short, which is a mobile robot that follows wire or magnetic tape in the floor to navigate from point to another in workspace. AGV serves in industrial fields to convey materials and products around the manufacturing facility or warehouse thus, time of manufacturing process and number of labors can be reduced accordingly. In contrast, the limitation of its movement specified by the guidance path considered as a main weakness. In order to make the AGV moves freely without guidance path, it is essential to know current position first before starts navigate to target place then, the position has to be updating during movement. For mobile robots positioning and path tracking, two basic techniques are usually used, relative and absolute positioning. Relative positioning techniques based on measuring travelled distance by the robot and accumulate it to its initial position to estimate current position, which lead to drift error over time. Digital compass, Global Positioning System (GPS), and landmarks based positioning are examples of absolute positioning techniques, in which robot position estimated from single reading. Absolute positioning does not have drift error but the system cost is high and has signal blockage inside buildings as in case of landmarks and GPS respectively. The developed positioning system based on odometry, accelerometer, and digital compass for path tracking. RFID landmarks installed in predefined positions and ultrasonic GPS used to eliminate drift error in position estimated from odometry and accelerometer. Radio frequency module is used to transfer sensors reading from the mobile robot to a host PC has software program written on LabVIEW, which has a positioning algorithm and graphical display for robot position. The experiments conducted have illustrated that the developed sensor fusion positioning system can be integrated with AGV to replace the ordinary guidance system. It will give AGV flexibility in task manipulation in industrial application. 2010-07 Thesis http://eprints.uthm.edu.my/3600/ http://eprints.uthm.edu.my/3600/1/24p%20SAID%20ABDO%20AHMED%20ELSHAYEB.pdf text en public http://eprints.uthm.edu.my/3600/2/SAID%20ABDO%20AHMED%20ELSHAYEB%20WATERMARK.pdf text en validuser mphil masters Universiti Tun Hussein Malaysia Fakulti Kejuruteraan Mekanikal dan Pembuatan
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English English
topic	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery Ahmed Elshayeb, Said Abdo Multi-sensor fusion for automated guided vehicle positioning
description	This thesis presents positioning system of Automated Guided Vehicles or AGV for short, which is a mobile robot that follows wire or magnetic tape in the floor to navigate from point to another in workspace. AGV serves in industrial fields to convey materials and products around the manufacturing facility or warehouse thus, time of manufacturing process and number of labors can be reduced accordingly. In contrast, the limitation of its movement specified by the guidance path considered as a main weakness. In order to make the AGV moves freely without guidance path, it is essential to know current position first before starts navigate to target place then, the position has to be updating during movement. For mobile robots positioning and path tracking, two basic techniques are usually used, relative and absolute positioning. Relative positioning techniques based on measuring travelled distance by the robot and accumulate it to its initial position to estimate current position, which lead to drift error over time. Digital compass, Global Positioning System (GPS), and landmarks based positioning are examples of absolute positioning techniques, in which robot position estimated from single reading. Absolute positioning does not have drift error but the system cost is high and has signal blockage inside buildings as in case of landmarks and GPS respectively. The developed positioning system based on odometry, accelerometer, and digital compass for path tracking. RFID landmarks installed in predefined positions and ultrasonic GPS used to eliminate drift error in position estimated from odometry and accelerometer. Radio frequency module is used to transfer sensors reading from the mobile robot to a host PC has software program written on LabVIEW, which has a positioning algorithm and graphical display for robot position. The experiments conducted have illustrated that the developed sensor fusion positioning system can be integrated with AGV to replace the ordinary guidance system. It will give AGV flexibility in task manipulation in industrial application.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Ahmed Elshayeb, Said Abdo
author_facet	Ahmed Elshayeb, Said Abdo
author_sort	Ahmed Elshayeb, Said Abdo
title	Multi-sensor fusion for automated guided vehicle positioning
title_short	Multi-sensor fusion for automated guided vehicle positioning
title_full	Multi-sensor fusion for automated guided vehicle positioning
title_fullStr	Multi-sensor fusion for automated guided vehicle positioning
title_full_unstemmed	Multi-sensor fusion for automated guided vehicle positioning
title_sort	multi-sensor fusion for automated guided vehicle positioning
granting_institution	Universiti Tun Hussein Malaysia
granting_department	Fakulti Kejuruteraan Mekanikal dan Pembuatan
publishDate	2010
url	http://eprints.uthm.edu.my/3600/1/24p%20SAID%20ABDO%20AHMED%20ELSHAYEB.pdf http://eprints.uthm.edu.my/3600/2/SAID%20ABDO%20AHMED%20ELSHAYEB%20WATERMARK.pdf
_version_	1747831035314307072

Multi-sensor fusion for automated guided vehicle positioning

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