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
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#
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