Đồ án tốt nghiệp - Research on indoor autonomous mobile robot systems using 2D lidar

HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION
FACULTY OF INTERNATIONAL EDUCATION

GRADUATION PROJECT

RESEARCH ON INDOOR AUTONOMOUS MOBILE
ROBOT SYSTEMS USING 2D LIDAR

VU XUAN HIEP
Student ID: 20145413
NGUYEN CHI THANH
Student ID: 20145435
Major: AUTOMOTIVE ENGINEERING TECHNOLOGY
Supervisor: CAI VIET ANH DUNG, PhD.
Ho Chi Minh City, DECEMBER 2024

HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION
FACULTY OF INTERNATIONAL EDUCATION

GRADUATION PROJECT

RESEARCH ON INDOOR AUTONOMOUS MOBILE
ROBOT USING 2D LIDAR

VU XUAN HIEP
Student ID: 20145413
NGUYEN CHI THANH
Student ID: 20145435
Major: AUTOMOTIVE ENGINEERING TECHNOLOGY
Supervisor: CAI VIET ANH DUNG, PhD.
Ho Chi Minh City, DECEMBER 2024

THE SOCIALIST REPUBLIC OF VIETNAM
Independence – Freedom– Happiness


Ho Chi Minh City, December 23, 2024

GRADUATION PROJECT ASSIGNMENT
Student name: Vu Xuan Hiep

Student ID: 20145413

Student name: Nguyen Chi Thanh

Student ID: 20145435

Major: Automotive Engineering Technology

Class: 20145CLA

Supervisor: Cai Viet Anh Dung

Phone number: _________________

Date of assignment: 15/09/2024

Date of submission: 22/12/2024

1. Project title: RESEARCH ON INDOOR AUTONOMOUS MOBILE ROBOT SYSTEMS USING
2D LIDAR

2. Initial materials provided by supervisor: Computer, 2D LIDAR
3. Content of the project: Research on SLAM algorithm using 2D LIDAR.
4. Final product: Algorhithm for robot’s autonomous navigation
CHAIR OF THE PROGRAM
(Sign with full name)

SUPERVISOR
(Sign with full name)

THE SOCIALIST REPUBLIC OF VIETNAM
Independence – Freedom– Happiness
-

SUPERVISOR’S EVALUATION SHEET
Student name:Vu Xuan Hiep.......................................

Student ID: 20145413................

Student name: Nguyen Chi Thanh...................................

Student ID: 20145435................

Major: .............................................................................................
Project title:...........................................................................................................
Supervisor: Cai Viet Anh Dung, Ph.D
EVALUATION
1. Content of the project:
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Mecanum wheels kinematics.” ITM Web of Conferences, 35, 04001
[20] Fedorenko, R., &amp Gurenko, B. (201). Local and global motion planning for unmanned surface
vehicle. MATEC Web of Conferences, 201, 06001

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[21] Gasparetto, A., Boscariol, P., Lanzutti, A., &amp Vidoni, R. (n.d.). Path planning and trajectory
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[21] Shafiq, M. U., Imran, A., Maznoor, S., Majeed, A. H., Ahmed, B., Khan, I., &amp Mohamed, A.
(2024). Real-time navigation of mecanum wheel-based mobile robot in a dynamic environment.
Elsevier Ltd.
[22] Röhrig, C., Heß, D., &amp Künemund, F. (2017). Motion controller design for a Mecanum
wheeled mobile manipulator. Proceedings of the 2017 IEEE Conference on Control Technology
and Applications (CCTA 2017), 27–30 August 2017, Kohala Coast, Hawai’i, USA.
Link:
[23] https://www.itm-conferences.org/articles/itmconf/pdf/2020/05/itmconf_itee2020_04001.pdf
[24] https://www.youtube.com/watch?v=vxSK2NYtYJQ)
[26] https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Understanding-ROS2Nodes/Understanding-ROS2-Nodes.html)
[27] https://www.mathworks.com/help/ros/gs/ros2-topics.html)
[28] https://docs.ros.org/en/foxy/Tutorials/Beginner-CLI-Tools/Understanding-ROS2Services/Understanding-ROS2-Services.html)
[29] https://sdrobots.com/ig3242-52-encoder-interfacing-cpr-calculation/
[30] https://www.researchgate.net/figure/Quadrature-encoding-with-hall-effect-sensors-Bothchannels-will-output-square-waves-that_fig4_342577004)
[31] RPLidarA1M8 datasheet
[32] https://autowarefoundation.github.io/autoware.universe/pr6268/perception/probabilistic_occupancy_grid_map/laserscan-based-occupancy-grid-map/
[33] https://www.mdpi.com/1424-8220/21/7/2263)
[34] https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/LaserScan.html)

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[35] https://www.udemy.com/course/self-driving-and-ros-2-learn-by-doing-maplocalization/?couponCode=ST12MT122624)
[36] https://www.youtube.com/watch?v=CceepU1vIKo )
[37] https://www.geeksforgeeks.org/a-search-algorithm/
[39] https://www.youtube.com/watch?v=-L-WgKMFuhE)
[40] https://www.mdpi.com/1424-8220/19/13/2976)
[41] https://www.researchgate.net/figure/Path-following-method-of-mobile-robot-usingwaypoints_fig1_289084212
[42] https://github.com/SteveMacenski/slam_toolbox
[43] https://felix.rohrba.ch/en/2015/an-introduction-tolidar/#:~:text=Using%20the%20measured%20time%20t,%3D%20c%20*%20t%20%2F%202.

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