Design and Development of an Indigenous Mobile Robot to Navigate in Cluttered Environment / (Record no. 607434)
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| 000 -LEADER | |
|---|---|
| fixed length control field | 02924nam a22001577a 4500 |
| 082 ## - DEWEY DECIMAL CLASSIFICATION NUMBER | |
| Classification number | 621 |
| 100 ## - MAIN ENTRY--PERSONAL NAME | |
| Personal name | Ali Shah, Muhammad Soleman |
| 245 ## - TITLE STATEMENT | |
| Title | Design and Development of an Indigenous Mobile Robot to Navigate in Cluttered Environment / |
| Statement of responsibility, etc. | Muhammad Soleman Ali Shah |
| 264 ## - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE | |
| Place of production, publication, distribution, manufacture | Islamabad : |
| Name of producer, publisher, distributor, manufacturer | SMME- NUST; |
| Date of production, publication, distribution, manufacture, or copyright notice | 2023. |
| 300 ## - PHYSICAL DESCRIPTION | |
| Extent | 64p. |
| Other physical details | Soft Copy |
| Dimensions | 30cm |
| 500 ## - GENERAL NOTE | |
| General note | The field of smart autonomous systems has experienced significant growth in recent<br/>years, with the development of robots aimed at assisting humans in various tasks. In particular,<br/>autonomous manipulators have been designed for disaster management and other situations<br/>where humans are inaccessible. This master's thesis presents the design and development of a<br/>mobile manipulator that can autonomously move in cluttered environments and perform pick and<br/>place tasks using 2D SLAM on ROS and 3D camera-based object detection. The proposed<br/>solution addresses the SLAM problem by utilizing the gmapping SLAM algorithm, which allows<br/>the robot to simultaneously locate itself and map its surroundings. The robot is equipped with a<br/>custom-made rover and a 6-DOF robotic arm assembled from ready-made links with joint<br/>servos. The arm is used to perform the pick and place tasks, and the 3D camera is used to<br/>estimate the coordinates of the targeted object, which is then used to control the robotic arm<br/>using inverse kinematics. The localization of the robot is done through 2D pose estimation using<br/>Kalman filter, and the destination position is set via RVIZ. The robot is designed to operate in<br/>indoor environments and can navigate autonomously using the 2D SLAM technique. The project<br/>demonstrates that the robot is capable of detecting the target object's 3D pose, estimating its<br/>coordinates, and accurately moving the robotic arm to achieve the desired pick and place task.<br/>Real experiments and demonstrations of the mobile manipulator's capabilities were performed<br/>using two Arduinos, one controlling the rover's motor and the other controlling the robotic arm's<br/>servos. The results of the experiments confirm the robot's ability to move autonomously and<br/>perform pick and place tasks accurately and efficiently. Overall, the mobile manipulator<br/>designed in this thesis provides a reliable solution for assisting humans in disaster management<br/>scenarios and other inaccessible environments. The use of 2D SLAM, 3D camera-based object<br/>detection, and inverse kinematics control for the robotic arm ensures efficient and accurate<br/>navigation and pick and place operations. The project can be extended to more challenging<br/>environments, such as outdoor and unstructured environments, with the integration of advanced<br/>sensors and algorithms. |
| 650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name entry element | MS Mechanical Engineering |
| 700 ## - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Supervisor : Dr. Kashif Javed |
| 856 ## - ELECTRONIC LOCATION AND ACCESS | |
| Uniform Resource Identifier | <a href="http://10.250.8.41:8080/xmlui/handle/123456789/32762">http://10.250.8.41:8080/xmlui/handle/123456789/32762</a> |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Source of classification or shelving scheme | |
| Koha item type | Thesis |
| Withdrawn status | Permanent Location | Current Location | Shelving location | Date acquired | Full call number | Barcode | Koha item type |
|---|---|---|---|---|---|---|---|
| School of Mechanical & Manufacturing Engineering (SMME) | School of Mechanical & Manufacturing Engineering (SMME) | E-Books | 01/18/2024 | 629.8 | SMME-TH-844 | Thesis |