Vision Based Guiding System for AGV Using Robot Operating Systems
No Thumbnail Available
Date
2018
Journal Title
Journal ISSN
Volume Title
Publisher
Uva Wellassa University of Sri Lanka
Abstract
An automated guided vehicle or automatic guided vehicle (AGV) is a mobile robot that
is most often used in industrial applications to move materials or goods around a
manufacturing facility, warehouse or stores. This research is based on making a vision
based guiding system for AGV instead of follow markers, wires in the floor or
magnets. For this task here used "rviz" and "Gazebo" visualizing interfaces in ROS
(Robotic Operating Systems). In this guiding system, the initial map was generated of
the working environment manually. Then, in this mapped environment AGV can navigate
autonomously avoiding obstacles. To obtains a 3d and 2d map of the navigating
environment, AGV used ROS RTAB map (real-time appearance based mapping)
packages. Video cloud of the environment was obtained by Xbox Kinect 360. For
communicating with Kinect video cloud, ROS freenect-opennii package was used. The
AGV model was designed by URDF (unified robot designing format). This model is
designed to its real dimensions through URDF. For first map generation, AGV moved
manually in the working environment. Manual Navigation of the AGV achieved by ROS
keyboard_teleop packages. These navigation commands pass to motors of AGV through
Arduino board. For communication between Arduino and ROS, "rosserial" packages
were used. This system can identify obstacle through video cloud with a small delay.
The laptop was used as ROS working environment and also to monitor and mark the
destination point of AGV. It is possible to use wandboard, Raspberry Pi board instead
of laptop and HMI (Human Machine Interface) instead of the laptop monitor. AGV can
identify its current position through ROS localization packages and use wheel encoders
to obtain traveled distance accurately, while navigation to the given destination.
Key Words: AGV, ROS (Robotic Operating Systems), RTAB Map
Description
Keywords
Information System, Computer Science