Development of a Semi-autonomous Holonomic Load Carrier with Multi-camera Perception

2020

Master's thesis in Mechatronics (MAS500) This thesis documents the development of a load carrier capable of carrying ten advanced personal robots. The robots of concern are Segway Robotics’ Loomo,which are used for education purposes at the University of Agder. They are used at multiple locations on campus, and it is desired to develop a system that can effectively transport them around. The report covers the concept generation, mechanical design, electrical design and development of a navigation system. A simple and compact design was developed and built. To achieve holonomic drive, the rig was equipped with four mecanum wheels. A mechanical design process was performed tocome up with a so…