VISVESVARAYA TECHNOLOGICAL UNIVERSITY
JNANA SANGAMA, BELAGAVI-590018
Robot Operating System
“Autonomous Mobile Robot”
SI no USN Name Signature
1. 1JS22RA003 Kuval K V
2. 1JS22RA008 Supraj S
3. 1JS22RA015 Hemath Gowda S J
4. 1JS23RA402 Jeevan D N
Under the Guidance of :
H M Basavaraju
Department of Robotics & Automation
JSS Academy of Technical Education, Bengaluru
2024-25
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Content :
1.Abstarct
2.Introduction
3.System Design
4.Implementation
5.Testing & Results
6.Application
7.Conclusion
8.Reference
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Abstract
An Autonomous Mobile Robot (AMR) is a sophisticated robotic system capable of navigating
and performing tasks in dynamic and unpredictable environments without human intervention.
This report provides a comprehensive overview of the AMR project, detailing its design
process, implementation strategies, functionalities, and potential future enhancements. The
AMR is equipped with advanced sensors, such as LiDAR and ultrasonic sensors, and intelligent
algorithms, including machine learning and path planning, to ensure efficient, safe, and
intelligent operations. These capabilities make it suitable for a wide range of applications in
industries, healthcare, logistics, and even daily life. Additionally, the report highlights the
challenges faced during the development process and the innovative solutions implemented to
overcome them.
Introduction
Autonomous Mobile Robots (AMRs) represent a groundbreaking innovation in
robotics, merging advanced hardware and intelligent software to perform tasks
with minimal human intervention. These systems have transformative potential
in areas such as logistics, healthcare, and exploration. The primary aim of this
project was to design, develop, and validate a robot capable of:
1. Dynamically detecting and avoiding obstacles in real-time.
2. Navigating autonomously in complex and unfamiliar environments.
3. Efficiently executing multi-step tasks using integrated sensors and adaptive
control systems.
4. Ensuring precise localization and mapping to enhance reliability.
This project emphasizes the implementation of core robotics principles such as
sensor fusion, motion planning, real-time decision-making, and environmental
adaptability. By bridging the gap between theoretical concepts and practical
deployment, the project demonstrates the potential of AMRs in addressing real-
world challenges.
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System Design
Software Components
• Programming Language: The system utilizes Python and C++ for robust
performance and compatibility with robotics frameworks.
• Frameworks and Libraries: Robot Operating System (ROS) is employed to
enable efficient communication between hardware and software modules.
• Algorithms:
• Localization: Particle filter or Kalman filter-based techniques ensure
accurate robot positioning within the environment.
• Obstacle Avoidance: Dynamic obstacle detection and avoidance are
achieved using real-time sensor fusion algorithms.
• Path Planning: Algorithms like Dijkstra’s or Rapidly-Exploring Random
Trees (RRT) are used for efficient route computation.
• Data Processing: Sensor data preprocessing and filtering are implemented
to enhance system reliability and decision-making accuracy.
Hardware Components
• Microcontroller: The robot's core processing is handled by a microcontroller, such as Arduino
or Raspberry Pi, to manage sensor inputs and movement control.
• Sensors:
o Ultrasonic/LIDAR Sensors: Used for detecting obstacles and measuring
distances with high precision.
o GPS Module: Facilitates outdoor navigation and localization.
• Motors: Movement is powered by DC or stepper motors, controlled via motor drivers for
precise motion handling.
• Power Supply: A consistent energy source is provided by rechargeable batteries, ensuring
uninterrupted operation of all components.
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Implementation
1. Path Planning: Advanced algorithms were deployed to compute the most efficient and
shortest routes for the robot to reach its target.
2. Obstacle Avoidance: The robot utilized real-time sensor data to detect and navigate around
obstacles, ensuring uninterrupted movement.
3. Localization: SLAM (Simultaneous Localization and Mapping) methods were employed
for real-time mapping and self-positioning within the environment.
4. Sensor Integration: Sensors were precisely calibrated and seamlessly integrated to provide
reliable and accurate environmental data.
Testing and Results
1. Outdoor Navigation: The robot effectively operated in open areas, leveraging
GPS for accurate localization and LIDAR for real-time obstacle detection.
2. Indoor Navigation: Successfully navigated through corridors and rooms,
dynamically avoiding walls, furniture, and other obstacles.
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The results validated the robot’s capabilities, showcasing:
• High accuracy in localization across various environments.
• Reliable real-time obstacle detection and avoidance.
• Efficient path planning, enabling smooth and autonomous task execution.
Overall, the AMR met the project objectives, performing tasks autonomously
with minimal errors and high consistency.
Applications
Autonomous Mobile Robots (AMRs) have a wide range of applications,
including:
1. Agriculture: Automated crop monitoring, pesticide spraying, and harvesting.
2. Retail: Inventory management and shelf stocking in stores and warehouses.
3. Security: Patrolling and surveillance of sensitive areas to detect threats or
intrusions.
4. Construction: Material transportation and site inspection to enhance efficiency.
Conclusion
Conclusion
The Autonomous Mobile Robot project effectively showcased the power of intelligent
algorithms and advanced sensor integration to achieve autonomous navigation and task
performance. By incorporating additional improvements like machine learning and optimized
power management, AMRs hold the potential to revolutionize various sectors. This project
underscores the transformative role of robotics in addressing real-world challenges and paving
the way for future advancements in automation and industrial applications. With continued
development, AMRs can become essential tools in a wide array of fields, driving innovation
and efficiency.
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References
1. Siciliano, B., & Khatib, O. (2016). Springer Handbook of Robotics. Springer
2. ROS Documentation: https://www.ros.org/
3. Thrun, S., Burgard, W., & Fox, D. (2005). Probabilistic Robotics. MIT Press.
4. Arduino Documentation: https://www.arduino.cc/
5. LaValle, S. M. (2006). Planning Algorithms. Cambridge University Press.
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