Mobile Robot Position Determination

Slip on the mobile robot has a significant impact on the maneuver and the accuracy of the mobile robot movement. The slip phenomenon occurs because of the loss of traction between the surface and the wheels due to the spontaneous acceleration or declaration application. This paper presents a method to improve DC motor performance by using slip control as an observer such that the slip phenomenon effect can be minimized. The performance that will be analyzed is the accuracy of motor speed and robot position accuracy when the robot is moving. The result shows that the Root Mean Squared Error (RMSE) for the motor speed performance that does not use slip control is 2.680, the system using slip control produces RMSE 1.3393. Regarding the robot position accuracy, the RMSE of the system that does not use slip control is 0.0379, the system using slip control is 0.0065.

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Android Application Design with MIT App Inventor for Bluetooth Based Mobile Robot Control

10.21203/rs.3.rs-628321/v1 ◽

2021 ◽

Author(s):

Ahmet TOP ◽

Muammer GÖKBULUT

Keyword(s):

Mobile Robot ◽

Automatic Control ◽

Robot Control ◽

Manual Control ◽

Android Application ◽

Serial Connection ◽

Mobile Robot Control ◽

App Inventor ◽

Robot Position ◽

Mit App Inventor

Abstract In this study, a Bluetooth-based Android application interface is developed to perform a manual and automatic control of a four-wheel-driven mobile robot designed for education, research, health, military, and many other fields. The proposed application with MIT App Inventor consists of three components: the main screen, the manual control screen, and the automatic control screen. The main screen is where the actions of the control preference selection such as manual control and automatic control and the Bluetooth connection between the mobile robot and Android phone occur. When the robot is operated manually for calibration or manual positioning purposes, the manual control screen is employed to adjust the desired robot movement and speed by hand. In the case of the need for automatic motion control, the desired robot position and speed data are inserted into the mobile robot processor through the automatic control screen. At the first stage of the work, the proposed Android application is developed with the design and block editors of the MIT App Inventor. The compiled application is then installed on the Android phone. Next, the communication between the Arduino microcontroller used for the robot control with the Bluetooth protocol and the Android application is established. The accuracy of the data dispatched to the Arduino is tested on the serial connection screen. It is validated that the data from the Android application is transferred to Arduino smoothly. At the end of this study, the manual and automatic controls of the proposed mobile robot are performed experimentally and success of the coordination between the Android application and the mobile robot are demonstrated.

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Continuity properties of the appearance manifold for mobile robot position estimation

Image and Vision Computing ◽

10.1016/s0262-8856(00)00108-6 ◽

2001 ◽

Vol 19 (11) ◽

pp. 741-752 ◽

Cited By ~ 17

Author(s):

J.L Crowley ◽

F Pourraz

Keyword(s):

Mobile Robot ◽

Position Estimation ◽

Continuity Properties ◽

Robot Position

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Development of a Laser Range Sensor for a Mobile Robot

Journal of Robotics and Mechatronics ◽

10.20965/jrm.1991.p0373 ◽

1991 ◽

Vol 3 (5) ◽

pp. 373-378 ◽

Cited By ~ 1

Author(s):

Kiyoshi Komoriya ◽

◽

Kazuo Tani

Keyword(s):

Mobile Robot ◽

Autonomous Navigation ◽

Ccd Camera ◽

Sensor System ◽

Beam Spot ◽

Laser Range ◽

Range Sensor ◽

Good Spatial Resolution ◽

Indoor Mobile Robot ◽

Robot Position

External sensors which can detect environmental information are important for a mobile robot to recognize its surroundings and location. Among external sensors, range sensors are fundamental because they can directly detect the free space in which the mobile robot can move without colliding with the surrounding objects. A laser range sensor provides good spatial resolution, and it is expected to detect characteristic parts of the environment used as landmarks for recognizing robot position. This paper presents the construction of a laser range sensor system which can be implemented in a small mobile robot. The system consists of several components including laser diode, CCD camera, and mark detection hardware. Based on triangulation method, the system can detect the distance to the object's surface on which the beam spot is directed. In order to detect a landmark, such as a wall edge, the sensor system is mounted on a rotary table. By horizontally scanning, the sensor can detect wall edges with an accuracy of approximately 5mm and an orientation accuracy of approximately 1 degree within 3m. This system has been installed in an indoor mobile robot and is used for autonomous navigation control along corridors.

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