Guided Object Fetching Robot

Abstract

This is a reflection on what the GOFR group has accomplished in the pursuit of making an Autonomously Guided Vehicle (AGV). This document will lay out the steps and research performed in order to design and build a functional AGV that improved upon a previous group’s attempt. The importance of this project is that the GOFR will be able to receive and deliver pallets autonomously. The expectation is that the GOFR will yield higher efficiency than current processes. Using Robot Operating System (ROS), Lidar technology for Localization, linear actuators,a Pixy2 Object-tracking camera for pallet locating and docking, and mecanum wheels for omnidirectional movement, an AGV capable of delivering parts to and from different robotic cells is created for the Phelp’s Hall Robotics Lab at Miami University, Hamilton.