Autonomous mobile robot

In the same way that all other fields of application are becoming more important as the world evolves day by day, robotics is becoming more significant. This is because as the world evolves, people are being replaced by robots in an attempt to decrease human effort and human mistake. The purpose of

Project Title

Autonomous mobile robot

Project Area of Specialization

Robotics

Project Summary

In the same way that all other fields of application are becoming more important as the world evolves day by day, robotics is becoming more significant. This is because as the world evolves, people are being replaced by robots in an attempt to decrease human effort and human mistake. The purpose of this paper is to offer the notion of an autonomous robot that is capable of doing a variety of activities that are performed often in an office setting without requiring a great deal of human direction. The ROS (robotic operating system) and Gazebo collaboration platform, together with the LIDAR sensor, enables this robot to plot a route for mobility. It is difficult for humans to perform effectively for long periods of time and remember a large number of locations of office holdings; therefore, the goal of this autonomous mobile robot is to reduce the likelihood of errors while simultaneously performing a variety of tasks in an office setting for long periods of time without taking breaks. Hence, the purpose of this project is to create a physical model of an autonomous mobile robot as well as an autonomous planning of route using an artificial intelligence-based technique.

Project Objectives

The main obejctive of this project are:

1. Autonomous Path Planning:

An essential part of the process of developing an autonomous robot that can plan its own course is finding a way for the robot to go from its starting location to its final destination without colliding with any of the many obstacles that may be present in the workplace. A variety of techniques in the design of algorithms were employed to construct an optimal route planning system for autonomous mobile robots in order to accomplish this goal. In order to finish the navigation job, the algorithms will scan the map of the environment or workspace and then try to design open pathways for the robot to go across the workplace without running into any obstacles or objects.

2. Decision Making

AI planning techniques are employed as a collection of planning operators to code the state changes in the environment caused by a robotic activity. This allows the decision-making process to be carried out successfully. After being presented with a particular objective, the planner will look for the optimal order of planning operators, or the optimum path across the state space that would eventually result in the objective being met. In theory, planning operators might be hand-coded, but in practise, this approach would be prohibitive for applications that include a large number of potential state transitions. Another option is to naturally learn things via experience, which is a method that works best when there is a human instructor to guide the process.

3. Lap Coverage

The purpose of a lap coverage path involves determining a route that steers clear of obstructions while traversing all of the points of interest in a region or volume of interest.

4. Deliverance

Aniother purpose of this project is to deliver objects like office stuff like files etc. (if placed in an office environment) without any human interferance. 

Project Implementation Method

We begin by creating a model of the action domain in computer language, and then go on to a model of the planning issue. The outcome will be a systematic plan of action for completing the allocated assignment. Next, we create an environment model. With the help of Gazebo's realistic physics simulator, we call on the low-level features of ROS to execute each job in the plan.

Following steps are being considered for the implemention:

1. Design of software layer: 

ROS offers a pleasant environment and a variety of libraries for our robot, algorithms, and navigation stacks that are essential to construct an autonomous navigation planner, and for testing generated software we are utilising Gazebo and Rviz for Locomotion and sensory data analysis.

2.  Development of control layer: 

In order to regulate the mobility of the robot, we make use of a Raspberry pi 3b+ as a controller, an Arduino as an interface agent, a Lidar sensor, and motor drivers.

3. Development of hardware structure:

We proposed an autonomous mobile robot having the following hardware parts 
1. four Wheels 
We use acrylic wheels because they are less expensive  and two times lighter than glass. With an inner circle, dia is 31mm  and outer dia is 95mm
2. chasses
3. Motors 
encoder motors are being used for better performance
4. shafts
Aluminum shafts are used as they are lightweight, strong and cheap.

4. Implementation of software layer on hardware:

we will embedd software layer , control and hardware to finalize our autonomous machine and then move towrda its testing process.

Benefits of the Project

An autonomous mobile robot (AMR) has a number of advantages:
1. Enhanced adaptability
Automated Material Retrieval (AMR) systems are versatile and nimble because they employ sensors instead of cables or magnetic tape to work, unlike auntomomous guided vehicles (AGV). To avoid obstructions, AMR may dynamically design their own efficient courses from Point A to Point B inside a facility, rather than following pre-determined lines.
AMR's adaptability also means that it may be easily reprogrammed to do new jobs, unlike other automation technologies, which often need more time and effort.

2. Enhanced Security
Sensors are crammed inside AMR to the brim. These enable the AMR to successfully navigate around a facility without hitting with barriers such as goods, infrastructure, or people, allowing it to do so safely and efficiently. However, forklifts, which must be operated by humans, do not have nearly as many built-in safety systems. A human operator's ability to get distracted or weary and cause an accident is always a worry; however, AMRs do not have these issues. As a result, using AMRs for routine jobs eliminates the risk of human mistake and greatly enhances the overall safety of the facility.

3. Quick Implementation
On average, AMR may be implemented inside a surgical procedure in four to six weeks, depending on the circumstances of that surgery. Units must be able to communicate with picking and warehouse management systems in order to function properly. It's remarkable how little time this takes even on the most advanced end of the spectrum compared to other technologies. G2P (goods-to-person) systems may take up to a year to build, as an example

4. Possibility of Expansion
In order to get the most out of AMR, it is feasible to start with a few units and add more as your organisation expands and your requirements change. As a result, we can begin with only one or two AMRs and gradually expand our fleet over time, saving a significant amount of money in the process. While you assess the effect of AMRs on our company and select the next steps, this modular deployment frees up money that may be used to pursue other projects.

5. Simple Transfer Between Locations
Some businesses may be reluctant to use automation because they know that they will be moving to a new location in the not-too-distant future. When a new facility will be constructed in the next two years and the old one demolished, this line of reasoning makes perfect sense.
AMR may provide as a temporary stopgap in these kinds of circumstances. Automation can be used even in the short term because to the simplicity with which AMR may be transported across facilities. A brief holiday business might benefit from this, as can organisations anticipating a transfer in the near future.

Technical Details of Final Deliverable

The Final product Will be a hardware and software integrated system which by using rasberry pie controller will interface with lidar through arduino to make a 2D model of the map. which will help it to analyze the obstacle and determine its path. The robot will follow that path in order the reach to its desired location with any human interferance. This can be done in any anonymous environemnt.

Final Deliverable of the Project

HW/SW integrated system

Core Industry

Transportation

Other Industries

Others

Core Technology

Artificial Intelligence(AI)

Other Technologies

Robotics

Sustainable Development Goals

Affordable and Clean Energy, Decent Work and Economic Growth, Industry, Innovation and Infrastructure

Required Resources

If you need this project, please contact me on contact@adikhanofficial.com