Development Of System Controller And Voice-Controlled Mobile Application To Control An Omni-Wheeled Mobile Robot

Keek, Joe Siang (2017) Development Of System Controller And Voice-Controlled Mobile Application To Control An Omni-Wheeled Mobile Robot. Project Report. UTeM, Melaka. (Submitted)

Text Development Of System Controller And Voice-Controlled Mobile Application To Control An Omni-Wheeled Mobile Robot - Keek Joe Siang - 24 Pages.pdf - Submitted Version Download (1MB)

Abstract

The main purpose of a mobile robot is to perform high maneuverability and accurate positioning, but indoor environment often fails the performance of the mobile robot. This is because indoor environment is compact and has limited space for movement. Besides that, unlike global positioning system (GPS), indoor positioning with high resolution is not easy to achieved. Hence, this project emphasizes on improving the movement precision and controllability of a indoor mobile robot. The objective of this project is to develop an omni-directional mobile robot that can achieve high maneuverability and accuracy. A mobile application is designed and developed too to control the mobile robot by using speech recognition. To achieve precise movement, dead-reckoning method is applied on the mobile robot to create a closed-loop system. One PS/2 protocol fastball mouse is used to attain two degree-of-freedom and coordinate-based precision and navigation. MIT App Inventor 2 is used to create an Android mobile application in which its functionality is controlled by using speech. Algorithm-based libraries are created and compiled so that the speech spoken can be in English, Malay language or Chinese langauge. A HC-05 Bluetooth module is connected to an Arduino Mega 2560 on the mobile robot to serve the purpose of establishing communication with the mobile application. A system controller, in this case a Proportional (P) controller, will be implemented and tuned by using Ziegler-Nichols tuning method, then followed by improving the controller by using gain-scheduling method. Analysis is conducted on the performance of the system controller with and without gain-scheduling enhancement. At the end of this project, a speech-controlled Omni-wheeled mobile robot with precision of �0.10cm is developed.

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