Wall Following Robot

Saul, Ribai Paul (2006) Wall Following Robot. Project Report. UTeM, Melaka, Malaysia. (Submitted)

	PDF (24 Pages) Wall_Following_Robot_-_24_Pages.pdf - Submitted Version Download (2MB)
	PDF (Full Text) Wall_Following_Robot.pdf - Submitted Version Restricted to Registered users only Download (11MB)

Abstract

Imagine you are navigating through your house in the dark- you·ve woken up in the middle of the night, hungry for a snack. You get out of bed, but leave the lights off so you don·t wake everyone else. You can·t see anything, so you run one hand along the wall as you walk down the hallway. There are small discontinuities in the waiL like the closet door. but you keep walking straight. You feel the wall "end." so you turn the corner and keep going. Perhaps at some point. you leave the wall and walk across a (known obstacle-free) room, holding your hand out in front to detect when you reach the opposite wall. You eventually reach the kitchen without much trouble. This blind navigation is an apt analogy for how a sensing-limited robot .. sees" the world. By "sensing-limited," i mean that the robot has sparse and very limited-range information about the world. These limited sensing capabilities result in a restricted view of the world - features of the environment can only be detected by observing a time series of sensor readings. Small robots with limited sensing capabilities are inexpensive, and are therefore ideal in applications where many potentially disposable robots are required to map and explore a building in parallel such as find a parameter in unknown place where human can not reach, robot guidance for blind people for an architect. in search and rescue or urban reconnaissance scenarios. This paper only focuses solely on the problems of exploration. and navigation for a single robot. The problem is for a sensing-limited robot to explore an unknown environment. The resulting paths should be efficient to the extent that safety, limited-range sensing, and errors in sensing, and robot motion. This paper demonstrates that such a robot can complete this task. though there are some limitations based on the size and geometric complexity of the world. We should not expect the same performance from a sensing limited robot as we would from a robot with richer sensing modalities (e.g. a laser scanner). While we pem1it lesser performance in terms of time and scope, we still expect reasonable accuracy. So this is the project to build a Wall Following Robot. This project is purposely to build a robot that run follow a wall. The wall following robot consist sensors. de motor and limit switch. The IC will be used to control this component to get the desired output. The goals of a wall following robot is to navigate through open spaces until it encounter a wall, and then navigate along the wall at some distance. This robot will follow a wall on its right and when it comes to comer tum to the left and continous right wall following. This robot will be equip with a sensor in front of the robot and a limit switch at the right side to detect or sense the wall and to avoid colision ~ith the wall. This robot also build so that it can make a tum a couple of degrees to left and also to the left when its encounter a comer. This robot are equip with sensors and a whisker to avoid and navigate in open space. So this project is attempt to solve this problems. This project consist of hardware and a software. The part that consist for the hardware is electronic circuit especially in robot controll design. These electronics circuit are combined with micro-controller circuit,PIC. The PIC program is the software part. It play the most important part in this project because it contain the main operation to control the robot movement in real world.

Actions (login required)

View Item