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The effect of load distribution towards the line following performance of two wheel driven mobile robot

In a mobile robot competition, it is often that the challenge includes carrying a load in the form of an object or sometime carrying another robot. The line following performance of the mobile robot might be affected by the way the load is distributed on top of them. To ensure the performance of li...

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Main Author: Ahmad Sohan, Muhammad Hafiz
Format: Thesis
Language:English
English
Published: 2014
Subjects:
T Technology (General)
TJ Mechanical engineering and machinery
Online Access:http://eprints.utem.edu.my/id/eprint/14718/1/The%20Effect%20Of%20Load%20Distribution%20Towards%20The%20Line%20Following%20Performance%20Of%20Two%20Wheel%20Driven%20Mobile%20Robot%2024pages.pdf
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spelling my.utem.eprints.147182022-11-10T14:52:58Z http://eprints.utem.edu.my/id/eprint/14718/ The effect of load distribution towards the line following performance of two wheel driven mobile robot Ahmad Sohan, Muhammad Hafiz T Technology (General) TJ Mechanical engineering and machinery In a mobile robot competition, it is often that the challenge includes carrying a load in the form of an object or sometime carrying another robot. The line following performance of the mobile robot might be affected by the way the load is distributed on top of them. To ensure the performance of line following, the mobile robot must be designed with these varying load distributions under consideration. Therefore, this thesis is designed to take the first step which is identifying the effect of load distribution towards the performance of line following. A two wheel driven mobile robot with a differential drive steering is developed with a platform to compensate different types of load distribution. A series of experiments is carried out to observe the effect of each type of load distribution towards the line following performance of the robot while completing the line following tasks. The performance of line following task is measured based on the time taken to complete a task and the frequency of line following sensors straying off the line. Data analysis is performed on results of the experiments to conclude the effect of each type of load distribution towards the line following performance. From the obtained result it can be concluded that the load distribution undoubtedly has effects towards the line following performance. The best position for load placement is at the centre of the robot polygon support which is represented by position 5 in the experiments. The outcome of this thesis research should benefits the development of load carrying mobile robot for competition and industrial automated guided vehicle which are navigated using the line following method. 2014 Thesis NonPeerReviewed text en http://eprints.utem.edu.my/id/eprint/14718/1/The%20Effect%20Of%20Load%20Distribution%20Towards%20The%20Line%20Following%20Performance%20Of%20Two%20Wheel%20Driven%20Mobile%20Robot%2024pages.pdf text en http://eprints.utem.edu.my/id/eprint/14718/2/The%20effect%20of%20load%20distribution%20towards%20the%20line%20following%20performance%20of%20two%20wheel%20driven%20mobile%20robot.pdf Ahmad Sohan, Muhammad Hafiz (2014) The effect of load distribution towards the line following performance of two wheel driven mobile robot. Masters thesis, Universiti Teknikal Malaysia Melaka. http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=fullDisplayRetriever.jsp&szMaterialNo=0000092577
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
English
topic T Technology (General)
TJ Mechanical engineering and machinery
spellingShingle T Technology (General)
TJ Mechanical engineering and machinery
Ahmad Sohan, Muhammad Hafiz
The effect of load distribution towards the line following performance of two wheel driven mobile robot
description In a mobile robot competition, it is often that the challenge includes carrying a load in the form of an object or sometime carrying another robot. The line following performance of the mobile robot might be affected by the way the load is distributed on top of them. To ensure the performance of line following, the mobile robot must be designed with these varying load distributions under consideration. Therefore, this thesis is designed to take the first step which is identifying the effect of load distribution towards the performance of line following. A two wheel driven mobile robot with a differential drive steering is developed with a platform to compensate different types of load distribution. A series of experiments is carried out to observe the effect of each type of load distribution towards the line following performance of the robot while completing the line following tasks. The performance of line following task is measured based on the time taken to complete a task and the frequency of line following sensors straying off the line. Data analysis is performed on results of the experiments to conclude the effect of each type of load distribution towards the line following performance. From the obtained result it can be concluded that the load distribution undoubtedly has effects towards the line following performance. The best position for load placement is at the centre of the robot polygon support which is represented by position 5 in the experiments. The outcome of this thesis research should benefits the development of load carrying mobile robot for competition and industrial automated guided vehicle which are navigated using the line following method.
format Thesis
author Ahmad Sohan, Muhammad Hafiz
author_facet Ahmad Sohan, Muhammad Hafiz
author_sort Ahmad Sohan, Muhammad Hafiz
title The effect of load distribution towards the line following performance of two wheel driven mobile robot
title_short The effect of load distribution towards the line following performance of two wheel driven mobile robot
title_full The effect of load distribution towards the line following performance of two wheel driven mobile robot
title_fullStr The effect of load distribution towards the line following performance of two wheel driven mobile robot
title_full_unstemmed The effect of load distribution towards the line following performance of two wheel driven mobile robot
title_sort effect of load distribution towards the line following performance of two wheel driven mobile robot
publishDate 2014
url http://eprints.utem.edu.my/id/eprint/14718/1/The%20Effect%20Of%20Load%20Distribution%20Towards%20The%20Line%20Following%20Performance%20Of%20Two%20Wheel%20Driven%20Mobile%20Robot%2024pages.pdf
http://eprints.utem.edu.my/id/eprint/14718/2/The%20effect%20of%20load%20distribution%20towards%20the%20line%20following%20performance%20of%20two%20wheel%20driven%20mobile%20robot.pdf
http://eprints.utem.edu.my/id/eprint/14718/
http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=fullDisplayRetriever.jsp&szMaterialNo=0000092577
_version_ 1751540436048019456
score 13.211869

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