by

Mohammad Najib Bin Abdul Rahim, 8649

MAY 2010

1.0 Company Background

2.0 Project Background
3.0 Literature Review
4.0 Methodology
5.0 Result and Discussion (up-to-date)
6.0 Future Works
7.0 Additional Work & Activities

8.0 Lessons Learned

9.0 Conclusion & Summary

LE2I, Laboratoire Electronique, Informatique et Image

oAssoc: CNRS,
IUT Le Creusot (host), UB

o 3 Research Teams:
Informatique, Signal et
Imagerie medicale, Image

& Vision

2.1 Problem Statement

2.1 Problem Statement

The purpose of this project is to develop an autonomous navigation system for a

mobile robot to assist mobility of the physically disabled in a known environment such as
in a building.
For those with physical disabilities, personal mobility is a challenge for them
especially when moving around in a new environment (i.e building). However, the need is
inevitable in places like hospital and government agencies.
By having a mobile robot equipped with autonomous navigation system, it
provides mobility assistance for the disabled to reach specific destination in a building

from the computation of path planning and motion control algorithms. The embedded
artificial intelligence enables the mobile robot to function as a moving GPS to usher
direction to required destination.

2.2 Objectives
Develop

global

navigation

system

that

intelligently computes waypoint for the mobile robot

to reach destination required by user.

2.3 Scope
Develop Graphical User Interface (GUI) software
Implement global path planning algorithms
Implement motion control algorithm

1) Stephen J. Tobias and A. Antonio Arroyo, 2000. Autonomous Pathfinding,

University of Florida, USA, 2000 Florida Conference on Recent Advances in Robotics
This paper discusses pathfinding approach using sensors for the robot to learn and
adapt to the environment at a fraction of computing power
Advantages: Low-cost sensors, requires no global
positioning information (except at start & end)
Disadvantages: Takes time, accumulated errors, not
portable information (parameters in algorithm)

Viraporn Vongsoasup and Maja J. Mataric, 2006, Path Planning and Navigation for
Geeves: A Tour-Guide/Greeter Robot, USA, CRA-W Distributed Mentoring Program
This paper focuses on path planning and navigation development for Geeves using
wave front controller combined with the vector field histogram (VFH)
System

Overview:

Wave

front

provides

global

navigation to find the optimal path, VFH provides local

navigation to avoid obstacles.
Results: Sometimes took a longer path to move, has
not been tested in real condition

Mohd Yamani Idna Idris, Norzaily Mohamed Nor, Zaidi Razak, Md Nor Ridzuan Daud,
Parking System Using Chain Code & A Star Algorithm, Malaysia, Universiti Malaya.
This paper takes the reader to another application of image processing, chain code
& A star implementations
System Overview: Image recognition detects empty
space comparing histogram of floor and object,
character on the floor is recognized using Chain Code,
then, A star generates the shortest route
Results:

Preliminary

implementation

navigation

research

has

shown

the

of image processing & robotics

-Progress until 10 May 2010-

5.1 Product Design Specification (PDS)

General Features:
Service environment: Known environment (i.e In a building)
General operation: Upload map -> Set start point -> Set destination -> Run
Programming Language: Visual C++
Input devices:
Collision protection sensor
9 infrared distance sensors
Analogue inductive sensor
2 optical sensors
Colour webcam with USB interface
3 wheel encoders

Robotino

5.2 System Breakdown

5.2.1 Graphical User Interface (GUI)

5.2.2 Path Planning Algorithm

Allows robot to move from Point A to Point B
Compute the shortest route
Development phase:

Basic algorithm:

Adaptive algorithm:

(a) Wavefront algorithm:

1. Check node-by-node
2. Start from top left
3. Ignore walls & count up with
respect to the minimum
bordering node

check node A at [0][0]

now look north, south, east, and west of this node (boundary nodes)
if (boundary node is a wall) ignore this node, go to next node B
else if (boundary node is robot location && has a number in it) path
found!
else if (boundary node has a goal) mark node A with the number 3
else if (boundary node is marked with a number) find the boundary
node with the smallest number mark node A with
(smallest number + 1)
if (no path found) go to next node B at [0][1] (sort through entire
matrix in order)
if (no path still found after full scan) go to node A at [0][0] (start over,
but do not clear map) (sort through entire matrix in
order) repeat until path found
if (no path still found && matrix is full) this means there is no solution
clear entire matrix of obstacles and start over this
accounts for moving objects! adaptivity!

(b) A* (A-star) algorithm:

F=G+H
G = the movement cost (A to current point)
H = the estimated movement cost (current
point to B)

Simple Test:

6.1 A* (continuation)
Integration with Robotino API
Implementation and testing

6.2 Motion Control Algorithm

PID Control for Driving Straight
Each motor individual motor has its own PID controller, however due to
its differential drive configuration, synchronization of the motor speeds is
required.

6.3 Recommendation
Trajectory smoothing
Localization
Motion control feedback:
ousing gyro sensor & compass
odummy wheels attached with encoders

(a) Additional Work:

IR Tracking Program
Multi-threading Program

(b) Other Activities:

I.U.T Open Day
Attended Computer Vision class

(a) Technical:
Programming Skill: Visual C++ (MFC Microsoft Foundation Class)
Robotics: Path planning, motion control
Multi-disciplinary skill set: Computer Science + Mechanical

(b) Non-technical:
Personal development: goal-oriented, self-motivation
Research environment

9.1 Conclusion
Work-In-Progress:
o 1 solution implemented
o 1 solution to be implemented
o Refinement required
Objective - check
Gantt Chart - check

9.2 Summary
Introduction: Company & Project
Work-In-Progress:
o Literature Review
o Methodology
o Results & Discussion
Future Works
Additional Work & Activities
Lessons Learned
Conclusion

INTERNSHIP GANTT CHART

Action Plan
Definition of the Problem
Literature Reviews
Research for the Solution
Solution Development
Testing & Refinement

January

February

March

April

May

June