Design of sensory and movement system hardware for maze mapping Autonomous Mobile Robot (AMR)

Abstract

AGV (Automated Guided Vehicle) is known as a robotic system that can move autonomously following an established path to complete a task. AMR (Autonomous Mobile Robot) is also known as a robotic system that can move autonomously to complete a task, but AMR can adapt easily to a new environment without having to follow a path that has been established before. This makes an AGV and an AMR differ. AMR has three behaviors, one of them is world modeling. World modeling is the behavior of AMR that models an unknown environment in which the robot resides. This behavior is very useful to trace dangerous places, such as ruins of building, underground planted duct pipe, etc. This work is a part of a complete research titled “A Study on Using AMR to Map An Unknown Maze”. This research focuses only on how to design a hardware of sensory and movement system. The sensory system will supply inputs to the control system. This system will “pick up” any alteration of its surrounding area information, and send them to the control system. The control system will then execute a command to move in various direction based on the movement algorithm. The discussion about the movement algorithm and all things related to it is done by Jimmy (2004) in a separate part of the whole research. The result of this research shows that the prototype can map a maze based on a appropriate communication of a sensory, a movement, and a control systems.