17-01-2013, 03:34 PM
An Intelligent Mobile Robot Navigation Technique Using RFID Technology
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Abstract
Now a day’s mobile robots are vastly used in many industries for performing different activities. Controlling a robot is generally done using a remote control, which can control the robot to a fixed distance, but here by designing control system for a robot such that the mobile robot is controlled using mobile and wireless RF communication. In this method controlling is done depending on the feedback provided by the sensor. This contains different modules such as
Wireless unit module
Sensing and controlling module
In the sensing module when the PIC micro controller is powered up the high-speed dc motors. The sensor is mounted on the robot. The encoder mounted on the robot transmitting the data
continuously. Here the robot consists of Transmitter and receiver. Here the frequency used is 433 kHz.
Keywords— Mobile robots, navigation, position control, Radio Frequency (RFID), robot sensing systems.
Introduction
In this method the mobile robot navigation is using Radio Frequency technology. Navigation based on processing some analog features of an RF signal is a promising alternative to different types of navigation methods in the state of the art. The main idea is to exploit the ability of a mobile robot to navigate a priori unknown environments without a vision system and without building an approximate map of the robot
workspace, as is the case in most other navigation algorithms. The suggested algorithm is capable of reaching a target point in its a priori unknown workspace, as well as tracking a desired trajectory with a high precision. The proposed solution offers a modular, computationally efficient, and cost-effective alternative to other navigation techniques for a large number of mobile robot applications, particularly for service robots, such as, for instance, in large offices and assembly lines. The effectiveness of the proposed approach is illustrated through a number of computer simulations considering test beds of various Complexities.
Mobile robot navigation has stood as an open and challenging problem over the last few decades. Despite the significant advances in this
field, researchers have yet to reach a comfortable level of satisfaction. The proposed algorithm takes advantage of the emerging Radio Frequency (RFID) technology.
System Analysis
Existing System
Numerous robot navigation methods have been suggested over the past few years. These systems generally fall under one of the following categories: dead-reckoning-based, landmark based, vision-based, and behavior-based techniques. The fundamental idea behind dead-reckoning navigation systems is the integration of incremental motion over time. This navigation method is based on continuous encoder readings that provide the position, orientation, and linear and angular velocities of the robot. This type of navigation is widely used due to its simplicity and ease of maintenance. However, small precision errors and
JAEST
sensor drifts inevitably lead to increasing cumulative errors in the robot’s position and orientation, unless an independent reference is periodically used to correct the error. Given these shortcomings, researchers shifted their interest to vision-based navigation to improve the robot position estimation by tracing the visual features in the environment and using them as landmarks . This measurement usually returns bearing to the visual features only, with no a priori knowledge of the landmark positions. Nevertheless, such a technique also has its own disadvantages, which include the lack of information depth, complex image processing algorithms with high computational burden, and its dependence on the working environment. Adopting behavior-based navigation systems can alleviate this problem, as they can incorporate a relatively large number of sensors, making them suitable for navigation in unstructured environments. However, relying on numerous sensors makes the system vulnerable to their drifts and cumulative errors.
Proposed System
An innovative mobile robot navigation technique using radio frequency technology. Navigation based on processing some analog features of an Rf signal is a promising alternative to different types of navigation methods in the state of the art. The main idea is to exploit the ability of a mobile robot to navigate a priori unknown environments without a vision system and without building an approximate map of the robot workspace, as is the case in most other navigation algorithms. the suggested algorithm is capable of reaching a target point in its a priori unknown workspace, as well as tracking a desired trajectory with a high precision. the proposed solution offers a modular, computationally efficient and cost-effective alternative to other navigation techniques for a large number of mobile robot applications, particularly for service robots, such as, for instance, in large offices and assembly lines. The effectiveness of the proposed approach is illustrated through a number of computer simulations considering test beds of various complexities.