AGV (Automated Guided Vehicle)

Project Overview

Advanced Automated Guided Vehicle (AGV) system developed by modifying an RC car platform. The vehicle is equipped with a comprehensive sensor suite including lidar, cameras, and IMU for precise autonomous navigation and mapping capabilities.

Technical Specifications

Sensor Suite

• Lidar Sensor: 2D/3D lidar for environment mapping and obstacle detection
• Camera System: RGB camera for visual perception and navigation
• IMU (Inertial Measurement Unit): Accelerometer and gyroscope for orientation and motion tracking
• Additional Sensors: Various environmental and position sensors

Key Features

• Autonomous Navigation: Self-driving capabilities with path planning
• SLAM Technology: Simultaneous Localization and Mapping
• Obstacle Avoidance: Real-time obstacle detection and avoidance
• Modular Design: Easily configurable and upgradeable platform

Vehicle Control System

The Control inputs are Speed and direction. These velocities vectors commands can be relayed via a wireless joypad by using the teleoperation package. They are then translated to suite the implemented drive system, then sent to the Ros serial package, which is the interface to the rc receiver(speed controller in the original rc car).

Ros nodes interchangeable publish to the motion topic depending on the selected mode i.e manual drive or autonomous.

Mapping Stage

Above videos display the map building stage using hector slam.

The map server runs on the actual robot, whilst a different computer in the network is used to view the live map and location of the robot during the live map build.