Indoor Positioning and Navigation for RC Car

Wong, Chun Fei (2019) Indoor Positioning and Navigation for RC Car. Final Year Project (Bachelor), Tunku Abdul Rahman University College.

Text WongChunFei.pdf Restricted to Registered users only Download (3MB)

Abstract

Robot for indoor usage is common seen nowadays, but the navigation for robot still have improving region. To improve the indoor robot navigation, positioning system is main core for positioning for robot. Positioning system is widely used nowadays, the most common positioning system was using daily is Global Positioning System (GPS) which saturated or mature system integrated in smartphone. While this unable to implement in indoor environment because the propagation of GPS unable penetrate to the indoor due to the wall, and complex of indoor environment. In addition, GPS is inherence with Line of sight effect, signal unable to use in indoor. In this research, is to develop a RC car as a robot for indoor positioning and navigation. The RC car is using Wi-Fi tracking and navigate by using Inertial measurement unit (IMU). Besides, Kalman filter will be implement to Wi-Fi tracking. This project is conducting 3 experiments to test the robustness of positioning and navigation. The Wi-Fi positioning is track by using Heron bilateration and the method mention above have successfully implement in this project.