Advanced Acoustic Sensing System on a Mobile Robot: Design, Construction and Measurements
| Autor: | Nicola Ivan Giannoccaro, Simon Kidiamboko Guwa Gua Band, Aime Lay-Ekuakille, Patrick Kapita Mvemba |
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| Přispěvatelé: | Mvemba, Pk, Band, Skgg, Lay-Ekuakille, A, Giannoccaro, Ni |
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
Computer science
010401 analytical chemistry Real-time computing Mobile robot 02 engineering and technology Servomotor 01 natural sciences 0104 chemical sciences Microcontroller Obstacle Arduino Obstacle avoidance 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Electrical and Electronic Engineering Instrumentation Servo |
| Popis: | In this paper, we describe the construction and characterization of a low-cost ultrasonic sensing system for obstacle avoidance on a mobile robot. In some locations and in certain conditions where electronic components are not readily available and not affordable, it is more advantageous to design an obstacle sensing system with a single sensor (e.g., HC-SR04) to reduce the construction cost. We decided to use only one sensor, mounted on a servo on the front of a mobile robot that scans and detects obstacles within the interval from 15° to 165° according to our design, to allow the estimation of the distance of currently detected obstacles with the help of a fuzzy rules set. The embedded fuzzy algorithm will select what obstacles should be avoided to perform collision-free navigation. A microcontroller with an Arduino boot loader was used to perform calculations and control the sensor (HC-SR04) and actuator (SG90 mini gear). The robot has two independent wheels, driven by geared PM dc motors, via the H driver L928N. The ultrasonic sensing system accuracy can be improved by considering ambient temperature in sound speed computation. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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