Path planning algorithm for a car-like robot based on cell decomposition method

This project proposes an obstacle avoiding path planning algorithm based on cell decomposition method for a car-like robot. Dijkstra’s algorithm is applied in order to find the shortest path. Using cell decomposition, the free space of the robot is exactly partitioned into cells. Then, the connectivity graph is created followed by calculating the shortest path by Dijkstra’s algorithm. This project also concerns the robot kinematic constraints such as minimum turning radius. Thus, kinematic modeling and Bezier curve have been used to obtain a feasible path. The algorithm is able to obtain a curvature bounded path with sub-optimal curve length while taking cell decomposition as reference skeleton. The C-space concept has been applied in this situation. The obstacles on the map are expanded according to the size of car-like robot, so that the robot could be treated as points on this map and the coordinates of the map is corresponding to these points. The simulation and experimental result shows the algorithm can obtain the collision free path which satisfies the curvature constraint and approaches the minimal curve length for a car-like robot

Velocity Control Of A Car-Like Mobile Robot

The velocity control is a very important component for every mobile robot. This velocity control will provide a stable velocity to the system, and increase the ability of calculation the movement coordinate of the mobile robot. Meanwhile, the velocity control of a car-like mobile robot is a main title in this dissertation. The main purpose of the velocity control of a car-like mobile robot is to design speed controller and apply the car-like robot kinematic model in order to obtain the current movement coordinate of the robot. There are some procedures to achieve the objective of this project such as to verify DC motor model, design the speed controller based on PI controller, and implement with car-like robot kinematic model. The DC motor model can be verified based on real-time experiment. The speed controller can be designed by using PI controller. However, the critical part of speed controller is to calculate the PI parameters. The car-like robot kinematic model is used to define the current movement coordinate of the robot based on the linear velocity from speed controller, and the fixed steering angle is set to be 30o. Moreover, this fixed 30o steering angle is made the robot turn left for 30o. By doing the simulation and real-time testing for the proposed methods, the final result can be obtained. The speed controller is successfully designed which provides a stable velocity to the system. The car-like robot kinematic model is also successfully implemented on the robot, but the improvement of this model is needed in order to make it more accurate

Implementasi Infrared Barrier Obstacle Sensor Menggunakan Modul Hw-201 Pada Smart Car Robot Line Follower

This research discusses the implementation of an infrared barrier obstacle sensor using the HW-201 module on a smart car robot line follower. The main aim of this research is to improve the ability of the smart car robot line follower to detect and follow lines on a predetermined path. This system is designed to use an infrared barrier obstacle sensor installed on the front of the line follower robot smart car facing downwards to detect and follow lines along the movement path. The method used includes hardware design consisting of the HW-201 module, microcontroller and drive motor, as well as software development to control the response of the smart car robot line follower to the detected line. The test results show that the smart car robot line follower is able to detect and follow lines with high accuracy, thereby increasing efficiency and reliability in following the line. It is hoped that this implementation can become the basis for further development of robotic systems that require automatic navigation capabilities. And these results show that the HW-201 IR sensor is a suitable option for robotics applications that require the ability to detect and avoid obstacles.Penelitian ini membahas implementasi infrared barrier obstacle sensor menggunakan modul HW-201 pada smart car robot line follower. Tujuan utama dari penelitian ini adalah untuk meningkatkan kemampuan smart car robot line follower dalam mendeteksi dan mengikuti garis pada jalur yang telah ditentukan. Sistem ini dirancang menggunakan infrared barrier obstacle sensor yang dipasang pada bagian depan smart car robot line follower menghadap ke bawah untuk mendeteksi dan mengikuti garis di sepanjang jalur pergerakan. Metode yaitu metode yang digunakan meliputi perancangan perangkat keras yang terdiri dari modul HW-201, mikrokontroler, dan motor penggerak, serta pengembangan perangkat lunak untuk mengendalikan respon smart car robot line follower terhadap garis yang terdeteksi. Hasil pengujian menunjukkan bahwa smart car robot line follower mampu mendeteksi dan mengikuti garis dengan akurasi yang tinggi, sehingga meningkatkan efisiensi dan keandalan dalam mengikuti jalur. Implementasi ini diharapkan dapat menjadi dasar bagi pengembangan lebih lanjut pada sistem robotik yang membutuhkan kemampuan navigasi otomatis. Dan hasil ini menunjukkan bahwa sensor IR HW-201 adalah opsi yang cocok untuk aplikasi robotika yang memerlukan kemampuan untuk mendeteksi dan menghindari rintangan

RANCANG BANGUN KONTROL ROBOT CAR 2WD MENGGUNAKAN ANDROID BERBASIS ARDUINO UNO

Aplikasi android dapat dimanfaatkan sebagai kendali berbagai peralatan sehari-hari, sehingga dapat mempermudah kegiatan manusia.Pada penelitian ini penulis membuat aplikasi android dengan bantuan app inventor yang dikembangkan oleh Massachusetts Institute of Technology (MIT). Rancangan sistem meliputi hardware dan software. Hardware antara lain,, motor shield untuk kendali robot car 2wd, modul bluetooth HC-05,dan rancangan software yaitu aplikasi android yang digunakan untuk menjalankan robot car 2wd dan program Bahasa C pada mikrokontroler Arduino uno.Hasil perancangan adalah sebuah aplikasi android yang dapat digunakan untuk menjalankan robot car 2wd maju, mundur, belok kanan, belok kiri, dan berhenti melalui smartphone android. Sistem ini memanfaatkan koneksi bluetooth yang terhubung dari smartphone android ke sistem mikrokontroler dengan jarak 1 sampai dengan 29 meter. Kata Kunci :Android; Arduino; Car Robot, Mikrokontroler Modul Bluetoot

Cable-Driven Robots with Wireless Control Capability for Pedagogical Illustration in Science

Science teaching in secondary schools is often abstract for students. Even if some experiments can be conducted in classrooms, mainly for chemistry or some physics fields, mathematics is not an experimental science. Teachers have to convince students that theorems have practical implications. We present teachers an original and easy-to-use pedagogical tool: a cable-driven robot with a Web-based remote control interface. The robot implements several scientific concepts such as 3D-geometry and kinematics. The remote control enables the teacher to move freely in the classroom.Comment: CAR - 8th National Conference on "Control Architecure of Robots" (2013

Computationally-efficient path planning algorithms in obstacle-rich environments based on visibility graph method

Path planning purpose is to find a collision-free path in a defined environment from a starting point to a target point. It is one of the vital aspects in enhancing an autonomy of a robot. Cun·ent studies have been focused on developing path planning algorithms to satisfy the criteria of path planning namely minimum path length, low computation time and complete, i.e., it gives positive result if a path is available or negative if otherwise. There are several existing path planning methods such as Visibility Graph (VG), Voronoi Diagram (VD), Potential Fields (PF) and Rapidly-Exploring Random Tree (RRT). Among those, VG is superior in terms of producing a path with the least length and completeness. However, VG has a drawback due to the fact that its computation time will increase in obstacle-rich environments. Moreover, as a path planned by VG is piece-wise linear which has sharp turns at comers, it is infeasible due to the kinematic constraints of a robot. Kinematic constraints limit the degree of freedom of the robot. In order to address the high computation time, an improved VG called Iterative Equilateral Spaces Oriented Visibility Graph (IESOVG) has been developed by reducing the number of obstacles used for path planning. IESOVG manipulates the size of the equilateral space to determine the obstacles used in path planning and consequently produces a free-collision path in considerably shorter time. On the other hand, to overcome the kinematic constraint of a car-like robot, Proportional controller, Proportional-Derivative (PD) controller and Bezier curves have been implemented to ensure that the resulting paths are feasible. As a result of the proposed methods, computation time of conventional VG has been improved by 97 %. The implementation of PD controller may contribute to path planning software development for autonomous car industry