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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| Format: | Thesis |
| Language: | English English |
| Published: |
2010
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| Online Access: | http://eprints.uthm.edu.my/3600/ 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_ | 1848888063451725824 |
|---|---|
| author | Ahmed Elshayeb, Said Abdo |
| author_facet | Ahmed Elshayeb, Said Abdo |
| author_sort | Ahmed Elshayeb, Said Abdo |
| building | UTHM Institutional Repository |
| collection | Online Access |
| 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. |
| first_indexed | 2025-11-15T20:04:19Z |
| format | Thesis |
| id | uthm-3600 |
| institution | Universiti Tun Hussein Onn Malaysia |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-15T20:04:19Z |
| publishDate | 2010 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | uthm-36002022-02-03T01:53:32Z http://eprints.uthm.edu.my/3600/ Multi-sensor fusion for automated guided vehicle positioning 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 NonPeerReviewed text en http://eprints.uthm.edu.my/3600/1/24p%20SAID%20ABDO%20AHMED%20ELSHAYEB.pdf text en http://eprints.uthm.edu.my/3600/2/SAID%20ABDO%20AHMED%20ELSHAYEB%20WATERMARK.pdf Ahmed Elshayeb, Said Abdo (2010) Multi-sensor fusion for automated guided vehicle positioning. Masters thesis, Universiti Tun Hussein Malaysia. |
| spellingShingle | TJ Mechanical engineering and machinery TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) Ahmed Elshayeb, Said Abdo Multi-sensor fusion for automated guided vehicle positioning |
| title | 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_short | Multi-sensor fusion for automated guided vehicle positioning |
| title_sort | multi-sensor fusion for automated guided vehicle positioning |
| topic | TJ Mechanical engineering and machinery TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) |
| url | http://eprints.uthm.edu.my/3600/ 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 |