This bachelor's thesis focuses on the creation of a control system for a mobile robot capable of automating operations in a modern warehouse. The development of such autonomous systems is an important direction in modern technology. The work begins with an analysis of existing existing solutions in the field of warehouse mobile robot control. We consider current approaches to their autonomous navigation, compare offers from different manufacturers and, on this basis, formulate key requirements for such robotic systems.
The next stage is developing our own control system diagram. We present its structural organisation, describe its main components, and show how they interact with each other at the functional level. After that, we move on to building the mathematical apparatus. This includes a kinematic model that describes the geometry of the robot's movement, and a dynamic model that takes into account the influence of the load. We also develop models for the navigation system and for determining the exact position of he robot in the warehouse, as well as for the system responsible for detecting and safely avoiding obstacles.
The practical part of the work includes modelling and engineering calculations. We analyse the strength of the robot's structure under operational loads. We perform calculations to select the optimal electric motors that will ensure the movement of the platform. We also calculate the required energy consumption and select the appropriate batteries. This section concludes with a simulation of the robot performing typical tasks in a virtual warehouse environment, which allows us to evaluate the performance of the developed algorithms.
In the final part of the work, the results of the study are summarised and the main conclusions are presented. Recommendations are also formulated regarding possible directions for further improvement and development of the proposed system. To confirm the results obtained, a list of references and necessary appendices are provided. The work performed has practical significance for the further development of autonomous systems designed to automate warehouse processes. It contributes to solving urgent tasks increasing efficiency and safety in the field of intralogistics.
Research advisor: S. Nechai
