Map Building and Navigation of Mobile Robot

Chin, Kok Leong (2016) Map Building and Navigation of Mobile Robot. Final Year Project (Bachelor), Tunku Abdul Rahman University College.

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Abstract

The title of final year project is “Map Building and Navigation”. The main function of this project is the mobile robot will explore the surrounding and draw a 2D visualize map in a software (Processing). The brain of the whole system is Arduino board (Arduino Mega and Arduino Dua) to carry out the functions and controls. The basic components to complete this project are sensors which representing the human’s eye to sense or detect the environment and another important part is the mobile robot that able to free to move around in any unknown space. The mobile robot will explore the space (map) until it has explored all unknown space by using coordination system to ensure the robot visit all the reachable unknown space and at the same time it will continuously draw the map for visualize purpose. After exploration is done, the user can command the robot to travel any places in the map. The main purpose of creating this function is to perform some special task that human is not able or not willing to do. For example, this function can be applied in exploration of map in sea, land, caves or even some dangerous places therefore it can secure human’s safety as people do not need to risk their life to explore an unknown place. It can be a good transporter in the sector of manufacturing or home to transfer an item from place to place. The function of 2D mapping and navigation of the mobile robot was proved by real experimental. As the robot able to explore the whole maze and at the same time the 2D map of the maze was plotted as well. At last, the mobile robot achieved to perform the last function which drive to the desired destination where the destination goal is given by the user.