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Title: Guidance and navigation of autonomous robotics
Authors: Cui, Binghui
Kong, Qingyi
Lee, Chia-Hang
Advisors: HSU, Li-Ta 
Issue Date: 2018
Publisher: The Hong Kong Polytechnic University
Abstract: This project aims to accomplish indoor unmanned drive with KUKA as moving platform and Lidar as 3D sensor. Autoware is utilized as software platform while Rviz is implemented as simulation tool during the whole project. Autonomous movement requires the robot itself to do path planning, collision avoidance, guidance and navigation, which are the main objective functions to develop in this project. To be specific, the whole project can be divided into four parts which are:
1. Localization
2. Path finding and clustering
3. Path tracking and autonomous control
4. Integration
Therefore, first we will introduce the motivation, commercial applications as well as specific objectives and missions. Then literature review and background information of each separate part will be provided, followed by technical content, which contains specific process, details and codes. Some experiments have been designed and conducted to test the operability as well as the accuracy. In the end, conclusion will be given together with discussion and further development.
Rights: All rights reserved.
Programme: Bachelor of Engineering (Honours) in Mechanical Engineering
Subject Code: ME49001
Subject Title: Final Year Capstone Project
Appears in Collections:Outstanding Work by Students

Files in This Item:
File Description SizeFormat 
Final version_FYP_REPORT_r.pdf7.12 MBAdobe PDFView/Open
Appendix_1_r.pdf1.15 MBAdobe PDFView/Open
Appendix_2_r.pdf477.01 kBAdobe PDFView/Open
FYP_Final_presentation_r.pdfPresentation file132.25 MBAdobe PDFView/Open
01-Video of moving in a square.htmVideo in Presentation file172 BHTMLView/Open
02-Video of obstacle avoidance.htmVideo in Presentation file172 BHTMLView/Open
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