Autonomous tour guide robot using wireless based localization

Azenan, Muhammad Ariff Ikmal (2021) Autonomous tour guide robot using wireless based localization. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Autonomous mobile robots are able to travel through areas where it is difficult or impossible to reach by humans. There are many methods available for using sensors like vision, sonar, or inertial sensors to navigate powerful and stable mobile robots, but these always have issues with reliability. Using radio frequency identification (RFID) is a common solution, but often been ignored. The robot poses can be dynamically determined from the information of the RFID tags and navigated automatically using line detection for path following. The identification of object with passive RFID tags is becoming increasingly popular because of the low cost and long life span of a passive RFID tag. This project describes the design and implementation of an indoor tour guide robot to guide visitors through Universiti Teknikal Malaysia Melaka (UTeM) faculty. Other than that, this project also presents the methods for estimating locations and poses and how RFID can be used to navigate a mobile robot. There are also explanations of how the system can be extended to perform obstacle avoidance, and possible applications for RFID – based navigation systems. The implementation of ultrasonic range sensors in tour guide robot that can detect objects and measure distances with high accuracy is used to avoide obstacles. The sonar range information collected by ultrasonic range sensors is processed by an Arduino Uno microcontroller that automatically controls the tour guide robot. The autonomous navigation is achieved through path following using Line Tracking Sensor. In low-light conditions, path lines can not be tracked. Rain or other noisy substances will remove the paint line. By placing RFID tags along the route, these issues can be overcome. In this project, designing a mobile robot route based on passive RFID tags that dont need any power source to reach the destination is suggested. Lastly, the interaction with visitors will be achieve through video display on an android tablet placed on top of the robot. The tour guide robot will display the video about the place it visit when the visitors press the video play button on the android tablet screen.

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