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 do – Hạnh phúc

MECHATRONICS

GRADUATION PROJECT TASKS
Semester II / year 2023
Instructor: ME. Tưởng Phước Thọ
Student:
1.

Phan An Đông

ID: 19146113

Phone No: 0765044611

2.
3.

Nguyễn Anh Minh
Nguyễn Hòa Lộc

ID: 19146093
ID: 19146092

Phone No: 0795234178
Phone No: 0966486148

1. Project number: 22223DT176
Name: Research, design and build an AGV robot using LIDAR sensor for navigation.
2. 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%.
3. Project main object
Research and build an AGV vehicle running with complex termites, the truck is loaded
with 15kg and is positioned by 1 LiDAR sensor. The LiDAR sensor will scan the surrounding
environment and send the feedback back to the computer which is a Raspberry Pi 3. A map
will be d 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.
4. Expected products:
The completed project will include an AGV with the following functions: the LiDAR
sensor can scan and 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.
5. Project delivery date: 15/03/2023
6. Project submission date: 15/07/2023
i

7. 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

- Stude
...

...

DATE

DRAWN

NGUYEN HOA LOC

05/2023

INSTRUCTOR

ME. TUONG PHUOC THO

HCMC University of Technology
and Education
Faculty of High Quality Training
19146CLA

3

TITLE:

BEARING SUPPORT

MATERIAL:

A3

STEEL AISI 1020

WEIGHT:

2

0.6 Kg

SCALE: 2:1
SHEET 1 OF 1

1

A

8

7

6

5

4

3

2

1

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

A
8

7

6

5

4

NAME

DATE

DRAWN

NGUYEN HOA LOC

04/2023

INSTRUCTOR

ME. TUONG PHUOC THO

HCMC University of Technology
and Education
Faculty of High Quality Training
19146CLA

3

TITLE:

MAIN WHEEL

MATERIAL:

A3

STEEL AISI 1045

WEIGHT: 2 Kg

2

SCALE: 1:1.5

1

SHEET 1 OF 1

A

8

7

6

5

4

3

2

SCALE 1:4.5

F

1
F

SCALE 1:6
7
8

E

E

6

9

D

D

C

ITEM NO.

PART NUMBER

QTY.

1

Steel Base

1

2

er Wheels

4

3

Main Wheels

2

4

Encoder

2

5

Motor

2

6

Body Frame

1

7

LiDAR sensor

1

8

LED lights

4

9

Buttons

4

10

Control Unit

1

10

4

B

5

2

1

C

B

GRADUATION THESIS
3

DRAWN

NAME

DATE

NGUYEN HOA LOC

06/2023

TITLE:

INSTRUCTOR ME. TUONG PHUOC THO

A
8

7

6

5

4

HCMC University of Technology
and Education
Faculty of High Quality Training
19146CLA

3

Mobile Robot
Assembly

MATERIAL:

A3
SCALE: 1:4.5

WEIGHT: 20 Kg

2

1

SHEET 1 OF 1

A

8

7

6

5

4

3

2

1

F

F
5

E

E

4

D

D

3

C

6

1

2

B

ITEM
NO.

PART NUMBER

DEION

QTY.

1

Foam

Plastic sheet
place
components

1

2

RASPBERRY_PI_3_MODEL_B

Raspberry Pi 3B+

1

3

BTS7960

2

4

Adruino R3

5

Battery

Motor Driver
Module
Adruino Uno R3
Lithium Battery
Pack

6

Power down module

12V to 5V step
down power
converter

1
1

C

B

1

GRADUATION THESIS

A
8

7

6

5

4

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

3

TITLE:

Control Unit

MATERIAL:

A3
SCALE: 1:1.5
SHEET 1 OF 1

WEIGHT:

2

1

A

8

7

6

5

F

E

4

3

2

1
F

RATIO: 1/2
PULLEY 20 TEETH ON MOTORS &amp ENCODERS

PULLEY 40 TEETH ON THE MAIN WHEEL SHAFT

E

D

D

C

C

B

B
GRADUATION THESIS

A
8

7

6

5

4

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

3

TITLE:

TRANSMISSION METHOD
BELT DRIVE

MATERIAL:

A3
SCALE: 1:3

WEIGHT:

2

1

SHEET 1 OF 1

A