Waypoint following indoor robot
In this project, a waypoint following indoor robot with predetermined set of waypoints is presented. For project purpose, a dead reckoning technique has been implemented to determine the current position of the robot. Optical encoders, which are mounted on both drive wheels count rotation of the whe...
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| Format: | Thesis |
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2015
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| Online Access: | http://eprints.uthm.edu.my/7714/ http://eprints.uthm.edu.my/7714/1/FHARIDATUN_BINTI_MOHAMMAD_ZAIN.pdf |
| Summary: | In this project, a waypoint following indoor robot with predetermined set of waypoints is presented. For project purpose, a dead reckoning technique has been implemented to determine the current position of the robot. Optical encoders, which are mounted on both drive wheels count rotation of the wheels and give information for robot positioning. The results show the encoder ticks that have been calculated can determine angle of rotation and distance of movement for robot navigation. Besides that, the concept of ramp up and ramp down has been introduced for speed control in order to give a smooth movement for the robot. Moreover, since the waypoint following robot is specified in indoor environment, Wi-Fi is used to communicate between the Arduino Mega 2560 with the serial console, Putty for monitoring purpose. Hence, the robot can navigate through desired waypoint based on the method that has been proposed. |
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