Page 73 - FYP Abstract BETA Mech, Mechatronics, MD_Neat

Final Year Project 2020/2021

Study on AGV Localization Based on

SLAM and Multilateration

Student’s Name: Muhamad Fahd Syakil Bin Mohd Fadli
Supervisor’s Name: Mohamed Yusof Radzak

Supervisor’s Email: myusofr@unikl.edu.my

Abstract Nowadays industries has been mordernize where there are less human doing labor in
facilities and warehouse. This human labor has been replaced by a mobile robot which is called
autonomous grounded vehicle (AGV). This changes was meant to reduce human energy
consumption and increase task executed efficiency. Therefore, most of nowadays industries
has recognize AGV capability. The key component of AGV system is localization where it is
used to locate the position of the AGV. Current localization system have flaws that contributes
to not precise localization. This paper is focusing on finding methods that can improve the
reliability and accuracy of localization. All began by performing simulation that discuss the
mathematical model used to describe robot motion and sensor data by using computer
simulation software MATLAB. The simulations includes SLAM mapping, PRM path planning
and multilateration. Next is collecting all the acquired data in order to provide analysis for best
result. MATLAB codes of all simulation algorithms are also available

Keywords AGV, SLAM, PRM, MATLAB, localization

Bachelor of Engineering Technology (Hons) in Mechanical (Automotive) 71
Bachelor of Engineering Technology (Hons) in Mechatronics (Automotive)
Bachelor of Engineering Technology (Hons) in Mechanical Design