For a mobile robot platform:

1. Simulate your chosen challenge, and discuss the simulation results in terms of chosen control strategy and performance

2. Discuss and implement a navigation strategy for the mobile robot for your challenge

3. Discuss how you would implement a localization strategy for the mobile robot for your challenge

Project requirements:

A forklift with a robot arm for lifting goods and pallets.

? Robot arm requirements:

a) Minimum 3-dof arm for lifting

b) Additional dof in gripper/fork to position fingers horisontally

c) Minimum reach with stationary mobile base is 150 cm in the horizontal plane, and 300 cm in the vertical plane

d) Capable of lifting: a) Gripper: 100kg b) Payload (picked object): Max. 500kg

? Mobile base requirements:

a) Capable of navigating autonomously between aisles in a 100 sqm warehouse

b) Have a turn radius less than 200 cm c) Rear wheels are used for steering

? Sensor requirements:

a) Low-cost 3D camera for manipulation, type RealSense D435 or similar – mounted on mobile base

b) Localization sensors for autonomous navigation

? Expected results:

? A forklift capable of picking up a pallet at location A, navigating to location B, and placing the pallet correctly on a storage shelf.

Programs in matlab and/or C#