Home   >   CSC-OpenAccess Library   >    Manuscript Information
Full Text Available

(817.98KB)
This is an Open Access publication published under CSC-OpenAccess Policy.
Design of a Low-cost Autonomous Mobile Robot
Kasun Kosala, Ravinda Gayan Meegama
Pages - 1 - 13     |    Revised - 31-03-2011     |    Published - 04-04-2011
Volume - 2   Issue - 1    |    Publication Date - March / April 2011  Table of Contents
MORE INFORMATION
KEYWORDS
Mobile Robot, Voice Recognition, Robot Navigation
ABSTRACT
Detection of obstacles during navigation of a mobile robot is considered difficult due to varying nature in terms of size, shape and location of the obstacle as well as ambient light that interferes with infra-red (IR) signals of the robot. In this paper, we propose a novel low-cost method that successfully guides a robot along a path using image processing and IR sensor circuits. A high continuous IR signal is converted into a low continuous IR signal by means of a demodulation circuit that enables a peripheral interface controller to receive this low continuous IR signal and take relevant decisions based on the signal. The images taken from a web camera are preprocessed to remove noise and detect edges. Subsequently, an image processing routine effectively calculates the angle to be rotated of the front wheels using a scan line algorithm. A minimum mean distance error of 2.45 was observed in tracking the path at a signal-to-nose ratio of 26.50. The accuracy of speech recognition was 92% for two voice training sessions.
CITED BY (1)  
1 Loscri, V., Mitton, N., & Compagnone, E. (2014). OpenCV WebCam Applications in an Arduino-based Rover. In Ad-hoc Networks and Wireless (pp. 261-274). Springer Berlin Heidelberg.
1 Google Scholar
2 CiteSeerX
3 Scribd
4 SlideShare
5 PdfSR
1 P. Alfonso, J. Azevedo, C. Cardeira, B. Cunha, P. Lima and V. Santos, “Challenges and solutions in an autonomous driving mobile robot competition”, In Proceedings of the Controlo Portugese Conference in Automatic Control, Lisbon, 2006.
2 T. Fong, I. Nourbakhsh, and K. Dautenhahn, “A Survey of Socially Interactive Robots”, Robotics and Autonomous Systems, 42(3-4):143- 166, 2003.
3 [online] http://www.avt.me.vt.edu/index.htm.
4 C.F. Reiholtz, “Virginia Tech Autonomous Vehicle: Jhonny-5”, Department of Mechanical Engineering, Virginia Tech, USA.
5 L.O. Mejias, S. Saripallai, P. Cervera and S. Sukhatme, “Visual Surveying of an Autonomous Helicopter in Urban Areas Using Feature Tracking”, Journal of Field Robotics, 23(3): 185- 199, 2006.
6 E. Cepolina and M. Zoppi, “Cost-effective Robots for Mine Detection in Thick Vegetation”, In Proceedings of the 6th International Conference on Climbing and Walking Robots, Catania, Italy, 2003.
7 B. Aksak, M.P. Murphy and M. Sitti, “Gecko Inspired Micro-Fibrillar Adhesives for Wall Climbing Robots on Micro/Nanoscale Rough Surfaces”, In Proceedings of the IEEE International Conference on Robotics and Automation, 2008.
8 G. Benet, F. Blanes, J.E. Simo and P. Perez, “Using infrared sensors for distance measurement in mobile robots”, Robotics and Autonomous Systems, 40(4): 255-266, 2002.
9 V.K. Sehgal, R. Sharma, N. Nitin, D.S. Chauhan, A. Srivastava, A. Kumar, Y. Agerwal and A.M. Khan, “Obstacle Sensing and Anti-falling Sensor Robot Using Embedded Processor”, In Proceeding of the 11th International Conference on Computer Modelling and Simulation, 2009.
10 L.H. Staib and J.S. Duncan,” Model-based deformable surface finding for medical images”, IEEE Transactions in Medical Imaging, 15(6): 859-870, 1996.
11 Y.C.F. Amin, S.H.M. Fisal, N.Bakar, “Bluetooth enabled Mobile Robot”, In Proceedings of the IEEE International Conference on Industrial Technology, 2002.
12 W. Fehlman and M.K. Hinders, “Mobile Robot Navigation with Intelligent Infrared Image Interpretation”, Springer, 2010.
13 R. Richa, P. Poignet and C. Liu, “Three dimensional Motion Tracking for Beating Heart Surgery Using a Thin-plate Spline Deformable Model”, International Journal of Robotics Research, 29(2-3): 218-230, 2009.
14 J.J. Abbot, K.E. Peyer, M.C. Lagomarsino, L. Zhang, L. Dong, I.K Kaliakaktos and B.J. Nelson, “How Should Microbots Swim?”, International Journal of Robotics Research, 28(11-12): 1434-1447, 2009.
15 G.Anderson, C. Sheesley , J. Tolson, E. Wilson and E. Tunstel, A Mobile Robot System for Remote Measurements of Ammonia Vapor in the Atmosphere, In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 2006.
Mr. Kasun Kosala
University of Sri Jayewardenepura - Sri Lanka
Dr. Ravinda Gayan Meegama
University of Sri Jayewardenepura - Sri Lanka
rgn@dscs.sjp.ac.lk