Localization of mobile robot

A system for localizing a differential three wheeler robot in a large scale indoor environment where GPS is not available. A mobile robot know that where it is, where it go and how, by simultaneous localization. It is the important part of any autonomous robot. It is also a robust field of Artificia

Project Title

Localization of mobile robot

Project Area of Specialization

Robotics

Project Summary

A system for localizing a differential three wheeler robot in a large scale indoor environment where GPS is not available. A mobile robot know that where it is, where it go and how, by simultaneous localization. It is the important part of any autonomous robot. It is also a robust field of Artificial Intelligence for self-localization in non-static environment .This technique is also use in NASA space robot for example Mars rover robot. It is basically to estimate the position as well as orientation of a mobile robot in real world.

There are two type of localization (indoor & outdoor). We are working on indoor localization of mobile robot by detecting QR codes where GPS system not work. There are many errors occur while drive a robot through wheels. Errors like slippage of wheels, therefore robot deviates from its original path. We develop a logic in programming that robot comes back to its original path but it is not working accurately. Therefore, we take help another field of robotics called Visual odometry. In visual odometry, there are many techniques but we use QR code detection technique. QR codes are used as landmarks to provide global pose reference. Location and position information are stored in QR code. We use Kinect sensor for the detection of QR code. Therefore, robot detect QR code and judge its position and orientation. When it deviate its original path, it detect QR code and come back to its previous path.

Project Objectives

A system for localizing a differential three wheeler robot in a large scale indoor environment where GPS is not available. A mobile robot know that where it is, where it go and how, by simultaneous localization. It is the important part of any autonomous robot. It is also a robust field of Artificial Intelligence for self-localization in non-static environment .This technique is also use in NASA space robot for example Mars rover robot. It is basically to estimate the position as well as orientation of a mobile robot in real world.

There are two type of localization (indoor & outdoor). We are working on indoor localization of mobile robot by detecting QR codes where GPS system not work. There are many errors occur while drive a robot through wheels. Errors like slippage of wheels, therefore robot deviates from its original path. We develop a logic in programming that robot comes back to its original path but it is not working accurately. Therefore, we take help another field of robotics called Visual odometry. In visual odometry, there are many techniques but we use QR code detection technique. QR codes are used as landmarks to provide global pose reference. Location and position information are stored in QR code. We use Kinect sensor for the detection of QR code. Therefore, robot detect QR code and judge its position and orientation. When it deviate its original path, it detect QR code and come back to its previous path.

Project Implementation Method

This project are three parts.

In first part, We are working on wheels by using Encoder DC Geread Motors. These motors gives feedback at every movement that how much robot drive distance by using encoders.

In second part is Visual odometry in robotics. In this field, we are working on Visualization to help robot moving one place to another desired place. We store information about location in QR codes. Robot detect QR codes and understand its position and orientation at that location given by QR code.

In 3rd phase, We integrate Both wheel odometry and Visual odometry. With the help of encoders, robot control its distance and detect QR codes, robot understand its position at that location. In this way, mobile robot localize itself by using wheel and visual odometry. 

Benefits of the Project

• These types of robot moves without remote from one place to another desired place.
• These types of robot use as an manupulator in industries to loading luggage from one place and droping in another place.
• It is used in Bomb disposal robot and protect human. 
• These techniques are also used in self driving cars. 

Technical Details of Final Deliverable

• First we study literature about project.
• Then, we make two parts of our project. Firs one is workin on wheel odometry. Second one is working on visula odometry.
• When we workin on Wheel odometry, there are many errors occur while driving robot for example, slipage of wheel, motors are not drive on same speed, machanical uncertainities. Due to these errors, robot not move straight on path.
• After improving issues, we are working on visual odometry. we work on literature review.
• we are working on detection of QR codes. we store information in QR codes.
• Then integrate wheel odomtmetry and visual odometry. Our robot detect QR codes and take information and drive itself accordingly. 

Final Deliverable of the Project

HW/SW integrated system

Type of Industry

Others

Technologies

Robotics

Sustainable Development Goals

Industry, Innovation and Infrastructure

Required Resources

If you need this project, please contact me on contact@adikhanofficial.com