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ROS based communication system for AGVs: A service oriented architecture (SOA) approach
University West, Department of Engineering Science, Division of Mechanical Engineering and Natural Sciences.
2016 (English)Independent thesis Advanced level (degree of Master (One Year)), 10 credits / 15 HE creditsStudent thesis
Abstract [en]

This project first explored various methods of designing a communication and control system for an AGV. It then implemented a SOA based communication system in ROS on the selected AGV. The ROS package created in the project implemented functions of the Aria and ArNetworking libraries from Adept. The next step of the project implemented the functions of teleoperation, mapping and transfer of maps and navigation from Aria into ROS. The packages built implemented these functions in different ways to test the best method to transfer Aria functions into ROS. A generic set of rules were then formulated that aided the conversion of these functions for users unfamiliar with either of the two packages (ROS and Aria).

Place, publisher, year, edition, pages
2016. , 20 p.
Keyword [en]
Industrial communication, AGV communication, multi-agent control
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:hv:diva-10069Local ID: EXD960OAI: oai:DiVA.org:hv-10069DiVA: diva2:1040330
Subject / course
Robotics
Educational program
Robotteknik
Supervisors
Examiners
Available from: 2016-10-28 Created: 2016-10-27 Last updated: 2016-10-28Bibliographically approved

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Division of Mechanical Engineering and Natural Sciences
Mechanical Engineering

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ReferencesLink to record
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