Contribution to Mobile Robots Command
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Date
2023
Authors
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Publisher
University of August 20, 1955 Skikda
Abstract
This dissertation delves into the fascinating domain of autonomous mobile robots
(AMRs), inspired by significant industry advancements. This research centers on
enhancing AMRs' autonomous navigation techniques with a focus on efficient path
planning in industrial environments. Two pivotal contributions emerge: a hybrid pathplanning method combining the fast computation time of stochastic algorithms with
accuracy and optimality of grid-based approaches, and an innovative, cost-effective
workflow for AMR design and construction . Utilizing CAD, the study refines a selfbalancing robot design, validated in a ROS + Gazebo simulation, and constructed with
widely available components. This work endeavors to broaden AMR applicability,
making it feasible for both small-scale businesses and households.