dc.contributor.author |
Jinasena, Kasun K. |
|
dc.contributor.author |
Meegama, Ravinda G.N. |
|
dc.date.accessioned |
2016-05-13T08:56:38Z |
|
dc.date.available |
2016-05-13T08:56:38Z |
|
dc.date.issued |
2016-05-13T08:56:38Z |
|
dc.identifier.citation |
Jinasena, K.K., & Meegama, R.G.N. (2016). Design of a Low-cost Autonomous Mobile Robot. International Journal of Robotics and Automation (IJRA), 2(1), 113-125. |
|
dc.identifier.issn |
2089-4856 |
|
dc.identifier.uri |
http://dr.lib.sjp.ac.lk/handle/123456789/2772 |
|
dc.description |
Kasun K. Jinasena
kasun@sjp.ac.lk
Faculty of Applied Science
University of Sri Jayewardenepura
Gangodawila, Nugegoda, Sri Lanka
Ravinda G.N. Meegama rgn@dscs.sjp.ac.lk
Department of Statistics & Computer Science
Faculty of Applied Science
University of Sri Jayewardenepura
Gangodawila, Nugegoda, Sri Lanka |
en_US |
dc.description.abstract |
Detection of obstacles during navigation of a mobile robot is considered difficult due to varying
nature in terms of size, shape and location of the obstacle as well as ambient light that interferes
with infra-red (IR) signals of the robot. In this paper, we propose a novel low-cost method that
successfully guides a robot along a path using image processing and IR sensor circuits. A high
continuous IR signal is converted into a low continuous IR signal by means of a demodulation
circuit that enables a peripheral interface controller to receive this low continuous IR signal and
take relevant decisions based on the signal. The images taken from a web camera are
preprocessed to remove noise and detect edges. Subsequently, an image processing routine
effectively calculates the angle to be rotated of the front wheels using a scan line algorithm. A
minimum mean distance error of 2.45 was observed in tracking the path at a signal-to-nose ratio
of 26.50. The accuracy of speech recognition was 92% for two voice training sessions. |
en_US |
dc.language.iso |
en |
en_US |
dc.subject |
Mobile Robot |
en_US |
dc.subject |
Infra-red Signals |
en_US |
dc.subject |
Voice Recognition |
en_US |
dc.subject |
Robot Navigation |
en_US |
dc.subject |
Infra-red Communication |
en_US |
dc.title |
Design of a Low-cost Autonomous Mobile Robot |
en_US |
dc.type |
Article |
en_US |