Mobile robot navigation for building quality assessment

Abdullah Suhaimi, Nik Muhammad Asyraf (2024) Mobile robot navigation for building quality assessment. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Building Quality Assessment is needed to ensure that every building construction is rated in terms of quality. For Building Quality Assessment, there are two parts which are architectural works and external works. For internal works, some of the criteria assessed are ceiling, wall, and floor. For wall quality assessment, human assessors normally use tools to assist in the assessment. Other than that, visual assessment is also done. However, human assessors take a long time to finish assessment for a large number of sample houses. Visual assessment, for example assessing the finishing of wall will be affected by the sunlight and tiredness of assessor. It is desired that an automatic wall data collection autonomous robot could help to navigate in a room to take data. The objectives of this project are to design a mobile robot that can move in a room with tiles and measure distance between the robot and wall, to develop algorithms for robot to follow the wall, and to evaluate the performance of robot following the wall. This project is done by designing the robot in Fusion 360, to ensure the suitable size used, to fit in all sensors and actuator. Then, the actuators (motors), body material are selected for this robot. The schematic diagram was also completed using the Fritzing software after assembling the robot hardware. The robot uses Mecanum wheels to allow it to slide left and right. The sensors used are the ultrasonic sensor and Time-of-Flight sensor to detect and measure the distance between the sensor and the wall. This robot needs to move in two types of rooms, namely Rectangle Shape Room and L-Shape Room. In addition, the theoretical calculation of the robot movement was done considering room dimensions before collecting experimental data. After completing the experiments, it is found that the experimental data found and the calculated motion time varies. In the experiments, the robot movies in two delay sliding times, namely 400 ms and 800 ms to assess the completion time of the motion. The set delay time 400 ms to 800 ms, is used to complete slide lefts in one cycle of the room shape. The experiment was repeated for 10 times for every room shape. The results of the experiments show that by increasing the sliding motion delay, it significantly reduces the time required to complete the total of slide left motion for each wall and the time to complete one cycle in the rooms experimented.

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