Low cost arduino wifi bluetooth integrated path following robotic ...

International Conference On Information Communication And Embedded System(ICICES 2016)

LOW COST ARDUINO WIFI BLUETOOTH INTEGRATED PATH FOLLOWING ROBOTIC VEHICLE WITH WIRELESS GUI REMOTE CONTROL Supantha Mandal1, Suraj Kumar Saw2, Shilpi Maji3,Vivek Das4 , Sravanth kumar Ramakuri5 , Sanjay kumar6, Department of Electronics & Communication Engg., Department of Computer Science Engg. St. Mary’s Technical Campus Kolkata, India 5 Research Scholar, Birla institute of Technology Mesra ranchi Jharkhand India Email:, , [email protected], [email protected] [email protected]. [email protected], [email protected], [email protected] Abstract— This research paper presents path following two wheeled compact portable robot with arduino nano as cental driving functional unit with novel features of wireless control using wifi and bluetooth module with collision detection, avoidance and control features which provides the unique ability of danger avoidance,falling from a hieght with improved stablity and precision control.The extremely sophistcated design provides very good controlled movement on horizantal ground terrain surfaces with data collecting and processing capabilties.The design is integrated with infrared sensors,bluetooth module,wifi module control with dc gear motors which controls the speed of the vehicle of the robotic vehicle and avoid collision with any obstacle detected in the path of the robot.It has the unique abilty of running in maze with path following abilties controlled from any remote location using WiFi for long range control and bluetooth for short range control.In this research article a entire system is designed and implemented in which movement is stably controlled based on feedback from infrared transreciever module.A low cost robust portable design using GUI control has been implemented with advanced features which makes it very unique and attractive for commercial production. Keywords—Unmanned aerial vehicle (UAV); personnel digital assistant (PDA) ;Graphical user Interface (GUI); WiFi; pulse width modulation (PWM).

I. INTRODUCTION A path following robotic vehicle integrated with sensors for data collection is nowadays widely deployed for research, domestic and commercial applications. In today’s world there is a significant development in the field of robotic control and design .Mobile robotic vehicles are small ,light and portable enough to be carried an individual have great potential to enhance the safety and effectiveness of urban reconnaissance and rescue operations. [1]. its working principle is based on variation of spin RPM of the two dc geared motors to stabilize and control the motion of robotic vehicle. The two dc motors are attached in the robotic case which gets the control signal from arduino nano. Our design serves as a solution to demonstrate how the control of the dc geared motors in coordination of the signals obtained from WiFi, Bluetooth

modules in conjunction of arduino nano is used to achieve high degree of precise path control from the user side to achieve standard operations like moving at a particular target location, collecting data and avoiding any obstacle to prevent collision..In existing literature many works have been done on the implementation and analysis of the robotics for various aspects like disaster management, working in nuclear areas, photography and military application. In our paper we have designed an arduino integrated with infrared module robot which follows a black line. The control of speed of the 2 dc geared motors and to stabilize the motion by remote controlling from a mobile device having Bluetooth and WiFi as the controlling medium has been implemented. Our user end equipment mobile/PDA is equipped with graphical user interface developed with java language to control the path of robot following the black line to achieve its target location avoiding obstacles. Our design includes arduino nano which is the central unit of the design integrated with IR sensor which sends signals for controlling the speed of the motors. The collision and detection protocol has been incorporated and well executed by using infrared sensors which prevents collision and sends the signal to the user mobile of obstacle detection. The path following and direction orientation is easily controlled with the alignment of the mobile or PDA in which the controlling java enabled software is installed. The remote controlling station behaves like a joystick thus coordinating and controlling the robot following the black line path .The robot direction can be changed with tilting of mobile or alignment in a particular direction. II. LITERATURE SURVEY Nowadays, immeasurable study on robotics such as path following, line following, UAV etc has focused students and researchers due to its broad scope of robotics in day to day life. Its applications are used in remote areas, military area, in agriculture etc. Paths which include zero-radius turns have been illustrated in [2], so as to keep the record and monitoring of the trajectories of a robotic wheelchair. The zero-radius turns problem is solved by selecting a separate projection on

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International Conference On Information Communication And Embedded System(ICICES 2016) the path which keeps the vehicle orientation into consideration. A bound exists on the curvature derivative of the path which is essential for preserving projection uniqueness. In addition, the projection is calculated step by step using searching of the point on the path that responds and correlate to a local minimum of a distance transfer function, thus augmenting computational complexity. A solution exists for the problem of the projection with non uniqueness has been shown in [3]. Path following is obtained by controlling and checking rate progression of a moving virtual target to be tracked along the path, thus bypassing the problems that come to scenario when an actual vehicle projection of the path must be computed. The approach has its significance because it proposes a unified solution both for smooth state feedback stabilization and path following, i.e., the problem is to ensure that the robot reaches the target position and starting of orientation begins from any initial condition. As a Brockett’s theorem result and consequence [4], it is feasible to prove that unicycle Cartesian space representations of vehicles cannot be stabilized and controlled via feedback with smooth state. However, in [2], it is illustrated, that with a system state variables selection, and target global asymptotic stability can be achieved . It is shown that, when the robot is contained within an ellipsoid of arbitrary dimensions which is centered on target, it is feasible to calculate the progression rate of the target in a closed loop along the path so as to ensure that the robot is “captured” by the ellipsoid, tracing the curve. From the view of theoretical perspectives, the work mentioned in [2] has the major limitation that it does not ensure asymptotic convergence to the path. Asymptotic stability is maintained for the problem of parking but, as long as the target starts moving, the approach can only guarantee that the vehicle is confined within the ellipsoid. Depending on the parameters tuning which measure the ellipsoid dimensions, this might create imprecise path with forward speed decrement, especially with high angular errors due to high curvature paths. The proposed variants, e.g., in [5]. Following of path is considered as a stabilization problem of set in [6][7][8].

deployed for obstacle detection .There is a provision of feedback signals to the controlling device like mobile/PDA in which the graphical control interface is installed thus avoiding collision and changing of path is very easy in our design. We have used a low cost Bluetooth module which enables dual mode of communication of control data between the controlling station and the robotic vehicle. We have used arguing nano board which is easily programmed by in system programming in the integrated development environment which is the most enhanced feature of programming in simple c language preventing the complexity of machine level coding. The arduino nano is extremely portable which has a very powerful microcontroller ATmega328 which enables very easy coding and execution of commands. The arduino nano is interfaced with IR sensor module, Bluetooth, WiFi module with DC coupled motors. The Bluetooth module and WiFi module is interfaced with the controlling remote station mobile or PDA which controls the path estimation and enables the motion of the path following robotic vehicle of resulting in a high efficient design with enticing features. IV. COMPONENTS A. Bluetooth Module Enhanced v2.0 +data rate Bluetooth circuit for 3Mbps and 2 Mbps modulation modes has been used in our design for wireless control .High speed of operation and high accuracy with full, Pico net support, scatter net support is obtained by this module. Easy design interfacing with the arduino nano is our greatest advantage obtained with less number of external components with added feature of very lower power consumption and miniaturized design making the Bluetooth module a full reliable and compliant system for voice and data communication. Low latency and power for exchanging data over short distances is an enticing feature of the module. Gaussian frequency shift key modulation technique enables transmission of data over short distance range in our robotic vehicle.

III. PROPOSED MODEL DESIGN Our proposed model is a very highly efficient, low cost, low power (nine volts) consuming controlled by WiFi and Bluetooth which includes processing from feedback signals from user side and IR module to control and align the robotic vehicle in whatever direction we need. Our model can be manually operated from a remote mobile device by wireless medium Bluetooth , Wi-Fi which also includes control by tilting the mobile in any degree. The graphical user interface develop by java portal is extremely attractive with enhanced visual platform showing all control directions of the robot resulting in high degree of control and precision. Our design is very unique because of integration of arduino nano with very light weight components and sensors which issues the control signals. Every module and peripheral interface is well synchronized in its mode of operation. There is high degree of speed control of motors attached at the robotic axis which thus controls the path dynamics, ensuring smooth obstacle free movement features. Our design includes infrared transreciever module operating with less voltage and is significantly

Fig. 1. Bluetooth module

B. Arduino Nano In our path planning robotic vehicle we have deployed arduino nano which is a small ,compact robust board which can be easily be interfaced with other sensor modules of robotic vehicle .It works with very small voltage of 5 v. It has 14 digital input output pins of which 6 generates PWM output

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International Conference On Information Communication And Embedded System(ICICES 2016) with 8 analog input pins. It has 32 kb of flash memory which aid in efficient storage of data and processing of control signals. Less weight and tiny dimensions are attractive features which makes the board very attractive.ATmega328 is powerful microprocessor acting as central unit deployed in arduino nano which process all instructions and easily carries all mathematical and logical operations with high speed .The most convenient feature of arduino nano is easy system programming which enables easy coding in c/java language overcoming the complexity of assembly level coding. Arduino nano comes with software serial library which coordinates easy serial communication on any of the digital pins of arduino nano. The integrated development environment which is the unique feature of arduino nano aid to generate attractive graphical design interfaces with ease when integrated with web graphical designing software’s like lab view and processing 2 software which enhances the quality of web design java portal GUI control application installed on remote controlling device.

Fig. 3. DC gear motor driver circuits

D. TSOP 1738 Infrared Receiver Module In our design we have deployed this compact circuit for short range communication and coordination so that we can control the operation of the robotic vehicle in infrared region sensing the black line and obstacle detection.The infrared sensor module comprise of a PIN photodiode and consists of a pre amplifier circuit embedded in a single package making is very compact and robust.This sensor has a inbuilt control circuit for amplifying coded pulses received from the transmitter module.The sensor is sensitive and works on different centre frequencies of the IR spectrum.The module is interfaced with arduino nano and motor driver circuit providing contol and feedback signals for reaching destination and operate with high efficiency.

Fig. 4. IR module

Fig. 2. Arduino nano

C. Motor driver DC gear L293D is a widely used motor driver IC which allows DC motor to drive in clockwise and anticlockwise direction.L293D is a 16 pin IC having the ability to control and coordinate two DC motors simultaneously .It is basically a dual H-bridge motor driver integrated circuit.It has the capability of operating small and big motors used for robotic and industrial applications.Its major application is in robotic applications for controlling DC motors. It has two enable pins pin 1 and pin 9 for driving motors.The operation of driver IC with pin 1 and pin 9 in high state enables it to driving the motors.When the state of pin1 and pin9 is at low state it suspends working like a motor driving and starts working like a switch.

Fig. 5. Optimal robotic path TABLE I. S. No 1. 2. 3. 4. 5. 6. 7.

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DESIGN PARARMETERS USED

Parameters

Specification

Supply voltage

9V

Programming

Java

Motor Drive

DC Gear Motor

Graphic User Interface

Available

Bluetooth module

Available

Wi-Fi module

Available

Sensor

Infrared

International Conference On Information Communication And Embedded System(ICICES 2016) 8.

Battery

6f22 9V Battery

Fig. 6. Block diagram of path following robot

The above block diagram demonstrates the hardware components modules which are integrated with each other providing us a robust, compact, portable design. The block diagram consists of arduino nano board module acting as central unit connected to four modules (infrared sensor module, Wi-Fi module, Bluetooth module, DC gear motor).The remote GUI control station module is attached with Bluetooth and wifi module for control signal transmission which controls the operation of the path following directions on which direction it should move. which is depicted in the above block diagram.

Fig. 8. Flow chart of Path following of the Robots

The above flow chart explains the operation of the path following in sequential manner. The flow chart indicates the initialization of IR sensor then on activation by GUI Bluetooth/wifi signal tests connectivity and control to path follower. When connectivity is successfully established with the controlling device, then it will move forward to the black line as per operation of sensor if the right sensor turns on it will move in a rightward direction and if left sensor turns on it will turn to left and parallel if any obstacle detected in path it will automatic stop and automatic go to the first step. Fig. 7. Hardware assembled design path following robotic vechile.

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International Conference On Information Communication And Embedded System(ICICES 2016) V. CONCLUSION AND FUTURE SCOPE The major aim of our research article is to study the complete design and operation of wireless path following robotic vehicle from the engineering perspective and to create an enhanced working model of moving robot integrated with sensors having significant improvement in obstacle detection and control with the help of infrared sensors which makes the design very unique. Our main objective was to construct a Bluetooth Wi-Fi enabled robotic vehicle with arduino technology which can be used for multipurpose applications in military, spyware, industrial and commercial applications like searching operations, capturing of data and images in various areas, collecting data from nuclear radioactive hazard prone areas ,detecting obstacles and reaching destinations using shortest optimal route saving time and enhancing efficiency. Our wireless path following robotic vehicle has been successfully designed, implemented and tested for all conditions. It can work with high accuracy, precision and control providing stability to the movement mechanism taking optimal route collecting data with feedback signals on GUI remote control unit. On the basis of test results GUI JAVA based application controller using Wi-Fi for long range and Bluetooth for short range from remote controlling device enables its operation in both manual and automatic mode, we can send the control signals to the arduino nano board for providing control signal based upon obstacle detection providing optimal performance creating a benchmark in robotic design and control technology. With the help of our innovative novel creative technical design, we can implement lot of data capturing, processing and transmission using infrared sensors, choosing optimal path to the destination using autonomous mode along with wireless control technology amalgamation. We

chose the java based graphical portal to enable easy wireless control of the robotic vehicle, to maintain simplicity of design, good flexibility, portability, robustness with significant potential of future research in the field of robotics engineering domain. This research of robotic vehicle can be enhanced further in various research works to integrate various technologies with variety of electronic sensors and data processing modules to obtain variety of technical data outputs augmenting the efficiency and performance of the wireless path planning intelligent robotic vehicle. REFERENCES [1]

[2]

[3]

[4]

[5]

[6]

[7]

[8]

Hogg, Robert W., et al. "Algorithms and sensors for small robot path following." Robotics and Automation, 2002. Proceedings. ICRA'02. IEEE International Conference on. Vol. 4. IEEE, 2002. S. Liu, “An on-line reference-trajectory generator for smooth motion of impulse-controlled industrial manipulators,” in Proc. 7th Int. Workshop Adv. Motion Control, Maribor, Slovenia, Jul. 2002, pp. 365–370. R. Haschke, E. Weitnauer, and H. Ritter, “On-line planning of timeoptimal, jerk-limited trajectories,” in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Nice, France, Sep. 2008, pp. 3248–3253. K. Ahn, W. K. Chung, and Y. Yourn, “Arbitrary states polynomial-like trajectory (ASPOT) generation,” in Proc. 30th Annu. Conf. IEEE Ind. Electron. Soc., Busan, Korea, Nov. 2004, pp. 123–128. S. Haddadin, H. Urbanek, S. Parusel, D. Burschka, J. Roßmann, A. Albu-Sch¨affer, and G. Hirzinger, “Real-time reactive motion generation based on variable attractor dynamics and shaped velocities,” in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Taipei, Taiwan, Oct. 2010, A. Banaszuk and J. Hauser, “Feedback linearization of transverse dynamics for periodic orbits in r3 with points of transverse controllability loss,” Syst. Control Lett., vol. 26, no. 3, pp. 185–193, 1995. C. Nielsen and M. Maggiore, “Maneuver regulation via transverse feedback linearization: Theory and examples,” presented at the Symp. Nonlinear Control Syst., Stuttgart, Germany, Sep. 2004. L. Consolini, M. Maggiore, C. Nielsen, and M. Tosques, “Path following for the pvtol aircraft,” Automatica, vol. 46, no. 8, pp. 1284– 1296, 2010.

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