Research, design and build an agv robot using lidar sensor for navigation

MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING GRADUATION THESIS ELECTRONICS AND TELECOMMUNICATION ENGINEERING TECHNOLOGY RESEARCH, DESIGN AND BUILD AN AGV ROBOT USING LIDAR SENSOR FOR NAVIGATION ADVISOR : TUONG PHUOC THO STUDENTS: PHAN AN DONG NGUYEN ANH MINH NGUYEN HOA LOC SKL 78 Ho Chi Minh City, August 2023 MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH-QUALITY TRAINING GRADUATION THESIS RESEARCH, DESIGN AND BUILD AN AGV ROBOT USING LIDAR SENSOR FOR NAVIGATION INSTRUCTOR: ME TƯỞNG PHƯỚC THỌ STUDENT: PHAN AN ĐÔNG 19146113 NGUYỄN ANH MINH 19146093 NGUYỄN HÒA LỘC 19146092 CLASS: 19146CLA YEAR: 2019 – 2023 Ho Chi Minh City, ……., August, 2023 TRƯỜNG ĐẠI HỌC SƯ PHẠM KỸ THUẬT CỘNG HÒA XÃ HỘI CHỦ NGHĨA VIỆT NAM HIGH QUALITY TRAINING FACULTY Độc lập – Tự – Hạnh phúc MECHATRONICS GRADUATION PROJECT TASKS Semester II / year 2023 Instructor: ME Tưởng Phước Thọ Student: Phan An Đông ID: 19146113 Phone No: 0765044611 Nguyễn Anh Minh Nguyễn Hòa Lộc ID: 19146093 ID: 19146092 Phone No: 0795234178 Phone No: 0966486148 Project number: 22223DT176 Name: Research, design and build an AGV robot using LIDAR sensor for navigation Early figures and documents: The AGV has the original specifications in dimension of 500×400×600 (length×width×height) The material will be steel for the base and aluminum for the frames, it can carry up to 20kg with maximum speed of 0,1 m/s and the accuracy is expected to be about 80% Project main object Research and build an AGV vehicle running with complex termites, the truck is loaded with 15kg and is positioned by LiDAR sensor The LiDAR sensor will scan the surrounding environment and send the feedback back to the computer which is a Raspberry Pi A map will be created based on those signals so that users can interact with that map to choose the destination Then the AGV will calculate the fast way to get to the destination Expected products: The completed project will include an AGV with the following functions: the LiDAR sensor can scan and create a map, also detect obstacles to avoid during the journey and reach the destination with the maximum accuracy AGV should be able to carry about 15kg, user can interact with the AGV on a display screen Project delivery date: 15/03/2023 Project submission date: 15/07/2023 i Language used: Final report: English Vietnamese Presentation: English Vietnamese HEAD OF FACULTY HEAD OF DEPARTMENT Allow to represent the project: ii INSTRUCTOR COMMITMENT - Project name: Research, design and build an AGV robot using LIDAR sensor for navigation - Instructor: ME Tưởng Phước Thọ - Student: Phan An Đông ID: 19146113 Nguyễn Anh Minh ID: 19146093 Nguyễn Hịa Lộc ID: 19146092 - Phone number: o Đơng: 0765044611 o Minh: 0795234178 o Lộc: 0966486148 - Email: o o o Đông: andong0108@gmail.com Minh: anhminh0305@gmail.com Lộc: jackreagan110@gmail.com - Address: o o o Đông: 806 Lô A chung cư Hà Đơ, Nguyễn Văn Cơng, p3 Gị Vấp Tp.HCM Minh: 228/1 Thống Nhất phường 10 Gị Vấp, Tp Hồ Chí Minh Lộc: 329/36 Điện Biên Phủ phường quận 3, Tp Hồ Chí Minh - Project submission date: 15/07/2023 - Commitment: I would like to assure you that this graduation thesis is the work that we studied and carried out ourselves We not copy from a published article without citing the origin If there is any violation, we take full responsibility Ho Chi Minh city, the iii of August 2023 ACKNOWLEDGMENTS Our team would like to express our sincere thanks to the board of trustees and teachers at the University of Technology and Education of Ho Chi Minh City Ho Chi Minh in general and the teachers of Mechanical Engineering, Department of Mechanical Engineering Technology in particular, have been dedicated to teaching and conveying to us valuable knowledge and experience throughout the past time I'd like to take this opportunity to express my deepest appreciation to our instructor, "Mr Tuong Phuoc Tho", whose excellent guidance and delicate efforts motivated me to consider and solve a variety of problems His keen interest and encouragement, as well as making facilities available for our project work, served as a constant support and inspiration throughout the entire project Finally, I express my gratefulness towards my family and friends, for their unconditional support and guidance towards the completion In addition, to all the individuals that helped us complete the final report, we are very appreciative to receive your feedback and instructions I would like to tell you that it is tough to prevent errors while completing the project and writing the project report At the same time, owing to limited logic and practical experience, the report cannot escape flaws; we are looking forward to hearing instructor feedback so that we may get more experience and complete the future report better We sincerely thank you! iv TÓM TẮT ĐỒ ÁN NGHIÊN CỨU, THIẾT KẾ VÀ CHẾ TẠO ROBOT AGV SỬ DỤNG CẢM BIẾN LIDAR ĐỂ ĐỊNH VỊ Đồ án tập trung vào khai thác liệu thu thập từ cảm biến LiDAR để tạo đồ 2D môi trường xung quanh, dùng đồ cho nhiều mục đích khác Với trợ giúp từ phần mềm ROS (Robot operating system) thư viện chức hỗ trợ người dùng, xe AGV với cảm biến LiDAR phát vật cản động tĩnh tránh né chúng cách tính tốn lại đường đến điểm chọn trước Nhóm chúng em có gặp chút khó khăn phần tính tốn chọn động phương án truyền dộng cho phù hợp với tốc độ tải trọng đặt ban đầu Kết đồ án xe AGV với kích thước 500×400×600 (dài × rộng × cao) có tải trọng khoảng 15kg AGV phát vât cản thiết lập lại đường dể tránh né, nhiên với vật cản nhỏ tầm quét cảm biến LiDAR khơng thể phát Về hướng phát triển cho đồ án này, để giải vấn đề vật cản nhỏ tầm quét LiDAR ta lắp thêm camera để nhận dạng vật đó, thay đổi động encoder thành loại chuyên dụng công nghiệp để tăng tải trọng tốc độ xe ABSTRACT RESEARCH, DESIGN AND BUILD AN AGV ROBOT USING LIDAR SENSOR FOR NAVIGATION The project focuses on harvesting the data collected by the LiDAR sensor to create a map of the surrounding environment, then store that map and use for multi other purposes With the help of ROS and coding, the AGV attached with LiDAR can avoid obstacles and calculate other routes when moving through the area to reach the destination Our team were struggling a bit in the power calculation part, how to choose the suitable motor, the right transmission solution to achieve the desired speed and enough force to carry heavy loads The result is an AGV with dimensions of 500×400×600 mm (length×width×height) capable of carrying out load approximately 15kg The AGV can detect obstacles and avoid them, however for objects that are lower than the LiDAR, it cannot detect For this problem can be solve by install and programmed a camera to identify those objects For further development of this project, the LiDAR can be upgraded to a better version, changed into industrial motors and encoders for better feedback data v TABLE OF CONTENTS GRADUATION PROJECT TASKS i COMMITMENT iii ACKNOWLEDGMENTS iv ABSTRACT v TABLE OF CONTENTS vi LIST OF FIGURES viii LIST OF TABLES x LIST OF ABBREVIATIONS xi CHAPTER 1: OVERVIEW 1.1 HISTORY 1.2 RESEARCH SITUATION NATIONALLY AND INTERNATIONALLY 1.3 INTRODUCTION 1.4 AGVS FOR INDUSTRIAL USE 1.5 OBJECT AND SCOPE OF THE STUDY CHAPTER 2: MECHANICAL DESIGN 2.1 DESIGN REQUIREMENTS AND TRANSMISSION SELECTION 2.2 MECHANICAL DESIGN 11 CHAPTER 3: POWER CALCULATION 18 3.1 CALCULATION TO CHOOSE MOTOR 19 3.2 BELT TRANSMISSION CALCULATIONS 20 3.3 BELT'S TEST TORQUE FORCE 21 CHAPTER 4: CONTROL METHOD 23 4.1 ROBOT’S KINEMATICS 23 4.2 ROBOT DYNAMICS 25 4.3 ROBOT CONTROL 26 4.3.1 BASIC OPERATION DIAGRAM 26 4.3.2 RASPBERRY PI EMBEDDED COMPUTER 28 4.3.3 MICROCONTROLLER 29 vi 4.3.4 THE RPLIDAR SENSOR 31 4.3.5 ENCODER 32 4.3.6 WORKING FLOW – DATA PROCESS 33 4.4 PID CONTROL 38 CHAPTER 5: PATH PLANNING 47 5.1 MAPPING 47 5.1.1 SLAM 47 5.1.2 HOW SLAM WORKS 48 5.1.3 COMMON SLAM PROBLEMS 50 5.2 PATH PLANNING WITH ROS 51 5.2.1 ROS 51 5.2.2 PATH PLANNING – NAVIGATION METHOD 52 CHAPTER 6: RESULTS 62 6.1 FINAL PRODUCT 62 6.2 EXPERIMENTS 65 CONCLUSION 75 FINISHED TASKS 75 DIFFICULTIES ENCOUNTER 75 UNFINISHED WORK 75 GRADUATION THESIS EVALUATION FORM 76 COMMENTS FOR THE GRADUATION THESIS 78 GRADUATION THESIS EVALUATION SHEET 80 REFERENCE 82 vii LIST OF FIGURES Figure 1.1 KUKA's and OMRON's AGV product Figure 1.2 AGV can transport big & heavy cargoes (1) Figure 1.3 AGV can transport big & heavy cargoes (2) Figure 1.4 An AMR working in a facility Figure 1.5 Example of an AGV Figure 1.6 Example of an AGV Figure 2.1 Transmission mechanisms Figure 2.2 Tooth belt transmitter Figure 2.3 Chain drive Figure 2.4 Gear transmission Figure 2.5 Drive diagram 10 Figure 2.6 Base design.Picture 2.5 Base design 11 Figure 2.7 Completed frame design 11 Figure 2.8 Base design.Picture 2.5 Base design 11 Figure 3.1 Active force on AGV 19 Figure 4.1 Center of the Instantanous curve rotation 23 Figure 4.2 The robot coordinate system 24 Figure 4.3 Robot system model 25 Figure 4.4 Basic operation diagram 26 Figure 4.5 Electrical schematic 27 Figure 4.6 Connection diagram 28 Figure 4.7 Raspberry Pi 3B+ 29 Figure 4.8 Arduino Uno R3 30 Figure 4.9 Rp LiDAR 31 Figure 4.10 Structure of an Encoder 32 Figure 4.11 This is the encoder we use for this project 33 Figure 4.12 Manual Mode 34 Figure 4.13 Automatic mode 35 Figure 4.14 Pulse width adjustment cycle 36 Figure 4.15 Average voltage 37 Figure 4.16 PID control function graph 38 Figure 4.17 PID 40 Figure 4.18 Rotary Encoder 40 Figure 4.19 LED A returns the pulse signal before of LED B 41 Figure 4.20 LED B returns signal after LED A 41 Figure 4.21 Encoder's pulse return rule 41 viii REFERENCE Vietnamese reference: [1] Trịnh Chất – Lê Văn Uyển, Tính tốn thiết kế hệ dẫn động khí, Nhà xuất giáo dục, 2006 [2] Nguyễn Trường Thịnh, Giáo trình Kỹ thuật robot, Nhà xuất ĐHQG, 2014 [3] K Uyên, “Thuật Toán PID Điều Khiển Tự Động,” 2020: https://www.stdio.vn/dien-tu-ung-dung/thuat-toan-pid-trong-dieu-khien-tu-dong-3Iu1u [4] Xu phát triển Robot giới tình hình nghiên cứu Robot Việt Nam nay, 21/05/2020, link: https://vnautomate.net/xu-the-phat-trie%cc%89n-robot-tren-the-gioiva-tinh-hinh-nghien-cuu-robot-o%cc%89-vie%cc%a3t-nam-hie%cc%a3n-nay-phancuoi.html [5] Top robot tự hành AGV tốt năm gần đây, By Daniel 31-07-2021, link: Top robot tự hành agv tốt năm gần (maysanxuattudong.com) Foreign reference: [6] Computational Principles of Mobile http://www.cs.columbia.edu/~allen/F17/NOTES/icckinematics.pdf Robotics, link: [7] Pulse Width Modulation, link: https://www.electronics-tutorials.ws/blog/pulsewidth-modulation.html [8] Handson Technology, “BTS7960 High Current 43A H-Bridge Motor Driver”, link: BTS7960 Motor Driver.pdf (handsontec.com) [9] Farbod Fahimi, Autonomous Robots Modeling, Path Planning, and Control, Springer Science+Business Media, 2009 [10] United States Naval Academy, “Mobile Robot Kinematics”, link: https://www.usna.edu/Users/cs/crabbe/SI475/current/mob-kin/mobkin.pdf [11] What is SLAM? – link: What is SLAM? Simultaneous Localization and Mapping (geoslam.com) [12] ROS tutorials, link: ROS introduction | Husarion [13] DWA algorithm – link: dwa_local_planner - ROS Wiki 82 BLUEPRINT APPENDIX 83 500±0.1 R30 x4 30±0.1 220±0.1 140±0.1 F 50±0.1 F E 400±0.1 E 80±0.1 30±0.1 45±0.1 D D 80±0.1 x8 C C x16 30±0.1 x8 40±0.1 75±0.1 15±0.1 50±0.1 70±0.1 4.00 B A NOTE: REMOVE ALL SHARP EDGES THICKNESS: 4mm The holes dimensions are symetric through the centerline horizontally and vertically Technical requirement: Parameters: mm (MILIMETERS) Tolerance for unmarked dimension: ±0.1mm Surface roughness: 25µm for all sides and holes B GRADUATION THESIS NAME DATE DRAWN NGUYEN HOA LOC 03/2023 INSTRUCTOR ME TUONG PHUOC THO HCMC University of Technology and Education Faculty of High Quality Training 19146CLA TITLE: Base MATERIAL: A3 STEEL AISI 1045 WEIGHT: 15 Kg SCALE: 1:3 SHEET OF A F F Rz25 R6 x8 89±0.2 80±0.2 22±0.2 (x8) E 500±0.3 E 80±0.2 D D 500±0.3 7±0.2 400±0.2 C C 32±0.2 B A B Technical requirements: Parameters: Milimeters (mm) Tolerance for unmarked dimension: ±0.5 mm Thickness: 2mm SURFACE ROUGHNESS: 25µm for all sides NOTE: REMOVE ALL SHARP EDGES & BAVIA BY CHAMFER 5x5 GRADUATION THESIS DRAWN INSTRUCTOR NAME DATE NGUYEN HOA LOC 03/2023 Cover Frame ME TUONG PHUOC THO HCMC University of Technology and Education Faculty of High Quality Training 19146CLA TITLE: MATERIAL: A3 Aluminium Alloy 1060 WEIGHT: Kg SCALE: 1:3 SHEET OF 1 A F F Rz25 35±0.1 35±0.1 300±0.1 500±0.1 E 400±0.1 200±0.1 150±0.1 E 500±0.1 D 400±0.1 D C C 500±0.1 350±0.1 200±0.1 150±0.1 B A B Technical requirements: Thickness: 2mm Parameter: Milimeters (mm) Tolerance for unmarked dimension: ± 0.5 mm NOTE: REMOVE ALL SHARP EDGES GRADUATION THESIS NAME DATE DRAWN NGUYEN HOA LOC 03/2023 INSTRUCTOR ME TUONG PHUOC THO HCMC University of Technology and Education Faculty of High Quality Training 19146CLA TITLE: SEPERATE ALUMINIUM SHEET MATERIAL: A3 1060 ALLOY - ALUMINIUM WEIGHT: Kg SCALE: 1:8 SHEET OF 1 A F F Rz25 10 30±0.2 x2 E E 25 61±0.2 40 D D 0.5 60±0.2 x4 45±0.2 C C 45±0.2 B B 60±0.2 Technical requirements: Parameter: Milimeters (mm) Tolerance for unmarked dimension: ± 0.5 mm NOTE: REMOVE ALL SHARP EDGES AND BAVIA A GRADUATION THESIS DRAWN INSTRUCTOR NAME DATE NGUYEN HOA LOC 05/2023 Motor Support ME TUONG PHUOC THO HCMC University of Technology and Education Faculty of High Quality Training 19146CLA TITLE: MATERIAL: A3 STEEL AISI 1020 WEIGHT: 0.4 Kg SCALE: 1:1 SHEET OF 1 A F F Rz25 20 x2 E E 51±0.3 33±0.1 30 0.5 D D 25±0.1 50±0.3 R3 30±0.2 x4 C C 30±0.2 B Technical requirements: Parameter: Milimeters (mm) Tolerance for unmarked dimension: ± 0.5 mm NOTE: REMOVE ALL SHARP EDGES AND BAVIA B 10±0.1 R3 x4 10±0.1 GRADUATION THESIS 50 DRAWN INSTRUCTOR A NAME DATE NGUYEN HOA LOC 05/2023 Encoder Support ME TUONG PHUOC THO HCMC University of Technology and Education Faculty of High Quality Training 19146CLA TITLE: MATERIAL: A3 STEEL AISI 1020 WEIGHT: 0.4 Kg SCALE: 1.5:1 SHEET OF 1 A F F Rz25 SECTION A-A E E 20±0.3 A 32±0.2 D D C C 2±0.2 8±0.2 A B B Techinical requirements: Parameters: mm (Milimeters) Tolerance for unmarked dimension: Remove bavia Paint anti-rust for long term usage A GRADUATION THESIS 0.5 mm DRAWN INSTRUCTOR NAME DATE NGUYEN HOA LOC 05/2023 Pulley 40 Teeth ME TUONG PHUOC THO HCMC University of Technology and Education Faculty of High Quality Training 19146CLA TITLE: MATERIAL: A3 STEEL AISI 1020 WEIGHT: 0.7 Kg SCALE: 3:1 SHEET OF 1 A F F Rz25 SECTION A-A E E 20±0.3 15±0.20 A D D C 8±0.20 A C B B Technical requirements: Parameters: mm (Milimeters) Tolerance for unmarked dimension: Remove bavia Paint anti-rust for long term usage A GRADUATION THESIS 0.5 mm DRAWN INSTRUCTOR NAME DATE NGUYEN HOA LOC 05/2023 PULLEY 20 TEETH ME TUONG PHUOC THO HCMC University of Technology and Education Faculty of High Quality Training 19146CLA TITLE: MATERIAL: A3 STEEL AISI 1020 WEIGHT: SCALE: 4:1 0.5 Kg SHEET OF 1 A F F SECTION A-A 30 12 10±0.2 A 30±0.2 E E 33±0.2 D A D 50±0.2 25 C C 25 B A B 40±0.2 Technical requirements: Parameters: mm (Milimeters) Tolerance for unmarked dimension: Remove bavia Paint anti-rust for long term usage GRADUATION THESIS 0.1 mm DRAWN INSTRUCTOR NAME DATE NGUYEN HOA LOC 05/2023 ME TUONG PHUOC THO HCMC University of Technology and Education Faculty of High Quality Training 19146CLA TITLE: BEARING SUPPORT MATERIAL: A3 STEEL AISI 1020 WEIGHT: 0.6 Kg SCALE: 2:1 SHEET OF 1 A F F E E 42.00 140 D 20±0.2 72° D 35±0.2 146 C C 10 B B Technical requirements: Parameters: mm (Milimeters) Tolerance for unmarked dimension: ± 0.5 mm GRADUATION THESIS DRAWN INSTRUCTOR A NAME DATE NGUYEN HOA LOC 04/2023 ME TUONG PHUOC THO HCMC University of Technology and Education Faculty of High Quality Training 19146CLA MAIN WHEEL TITLE: MATERIAL: A3 STEEL AISI 1045 WEIGHT: 2 Kg SCALE: 1:1.5 SHEET OF A SCALE 1:4.5 F F SCALE 1:6 E E D D C ITEM NO PART NUMBER QTY Steel Base Caster Wheels Main Wheels Encoder Motor Body Frame LiDAR sensor LED lights Buttons 10 Control Unit 10 B C B GRADUATION THESIS DRAWN INSTRUCTOR A NAME DATE NGUYEN HOA LOC 06/2023 ME TUONG PHUOC THO HCMC University of Technology and Education Faculty of High Quality Training 19146CLA Mobile Robot Assembly TITLE: MATERIAL: A3 SCALE: 1:4.5 WEIGHT: 20 Kg SHEET OF A F F E E D D C B ITEM NO PART NUMBER DESCRIPTION QTY Foam Plastic sheet place components RASPBERRY_PI_3_MODEL_B Raspberry Pi 3B+ BTS7960 Adruino R3 Battery Motor Driver Module Adruino Uno R3 Lithium Battery Pack Power down module 12V to 5V step down power converter 1 C B GRADUATION THESIS DRAWN INSTRUCTOR A NAME DATE NGUYEN HOA LOC 06/2023 ME TUONG PHUOC THO HCMC University of Technology and Education Faculty of High Quality Training 19146CLA TITLE: Control Unit MATERIAL: A3 SCALE: 1:1.5 SHEET OF WEIGHT: A F E F RATIO: 1/2 PULLEY 20 TEETH ON MOTORS & ENCODERS PULLEY 40 TEETH ON THE MAIN WHEEL SHAFT E D D C C B B GRADUATION THESIS A NAME DATE DRAWN NGUYEN HOA LOC 06/2023 INSTRUCTOR ME TUONG PHUOC THO HCMC University of Technology and Education Faculty of High Quality Training 19146CLA TITLE: TRANSMISSION METHOD BELT DRIVE MATERIAL: A3 SCALE: 1:3 WEIGHT: SHEET OF A S K L 0