<p>The project is in the area of autonomous navigation robots, with a focus on assisting the blind and physically disabled. The project addresses two main issues concerning the autonomous navigation. First, avoiding obstacles in robot?s path towards destination, solved by placing three ultrasonic sensors on the front, right, and left sides of the robot. They are effective in detecting obstacles in the range of 0.02 meters to 4 meters. Second, giving a path for the navigation, the robot travels through a series of waypoints to reach the destination. Heading angle and distance to each of these coordinates are calculated using Magnetometer and GPS. Using waypoints to reach destination gives user the flexibility to select a route and navigate without use of the internet. A Human Voice Interface system has been added, which enables the user to control basic robot actions through Bluetooth voice commands. The above model is effective in autonomously guiding the user to their destination. Results have been demonstrated and tested using a four-wheel robot model. LCD and serial monitor readings are presented with the paper. Efforts are being made to make this model more flexible so that it could be attached to any functional wheelchair with minor modifications.
|05 January 2017
|California State University, Long Beach
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