Simultaneous Localization and Mapping For Mobile Robot Car
By
Author
Presented To
Department of Computer Science
Abstract
This project is to develop a Simultaneous Localization And Mapping (SLAM) for
mobile robot car controlled by using a “tiny computer” called Raspberry Pi as the main
control board. The purpose of this project is to resolve the old line-following method for
automatic guided vehicle or mobile robot car that utilized by factory for transportation
purpose. Since old line-following method has been encountered some issues that caused
the mobile robot car unsuccessful to deliver materials from starting point to destination.
The major issue is line such as physical white line along predefined path on floor
eliminating gradually due to problem of tear and wear. Thus, mobile robot car unable to
detect the line on floor to travel. Therefore, by using new technique called Quick Response
code (QR code) able to resolve the problem of line-following method. It is to replace the
line along the path on floor with QR code. QR code is the trademark of a type of matrix
barcode or two-dimensional barcode that able to store the data and fast readability. The
mobile robot car compatible with the Raspberry Pi Camera can captures the image
containing QR code and decodes it quickly in order to retrieve the data within it. The data
stored within QR code is location point in coordinate form (x, y). Each QR code stored one
location point. QR code symbols is placed on floor with same distance with each other. So
that mobile robot car has to travel a certain distance to capture QR code and decode, then
continue to move until it reach at destination. While decoding it, monitoring system on web
also keep track of position by showing the location of mobile robot car. The monitoring
system can let user clearly to determine position of mobile robot car either on track or stuck
at any point along the pathway. Lastly, the QR code places on the floor not only reduces
the problem of tear and wear as compared to line, but also the fast readability of QR code
that made it became more reliable. Thus, QR code is a great solution to replace the old line-
following method and suitable to implement it on this project.
Table of Contents
Title Page………………………………………………………………………………….i
DECLARATION OF ORIGINALITY - - - - - - - - - - - - - ii
ACKNOWLEDGEMENTS - - - - - - - - - - - - - - - .. iii
Abstract - - - - - - - - - - - - - - - - - - - - - .. iv
Table of Contents - - - - - - - - - - - - - - - - - - .. v
List of Figures…………………………………………………………………………..vii
List of Tables…………………………………………………………………………….xi
List of Abbreviations…………………………………………………………………..xiii
Chapter 1: Introduction - - - - - - - - - - - - - - - - - 1
1-1 Problem Statement and Motivation………………………………………… - 1
1-2 Background Information…………………………………………………… - .3
1-3 Project Objectives……………………………………………………………..5
1-4 Proposed Approach / Study………………………………………………… - 6
1-5 Achievement…………………………………………………………………..7
1-6 Report Organization…………………………………………………………..8
Chapter 2: Literature Review…………………………………………………………..9
Chapter 3: System Design…………………………………………………………… - 11
3-1 System Design Block Diagram…………………………………………… - 11
3-2 Flow Chart……………………………………………… - ..…………… - 13
3-3 Schematic Diagram…………………………………………………… - …..15
3-4 Prototype………………………………………………………………… - ..16
3-5 Hardware Development………………………………………………….….17
3-6 Software Development…………………………………………………… - 27
3-7 Software Installation……………………………………………………… - 31
3-7-1 Set up Raspberry Pi 2 Model B………………………………………..31
3-7-2 Set up USB WIFI Adapter with Raspberry Pi 2 Model B…………….35
3-7-3 Installation a web server on Raspberry Pi (Apache, PHP5, MySQL,
PHPMyAdmin) - - - - - - - - - - - - - - - - - - . 38
3-7-4 Installation and Configuration for Raspberry Pi Camera - - - - 44
3-8 Steps to check module and run program on Raspberry Pi 2 Model B - - 47
3-8-1 Steps to check module on python IDLE 2.7.9 - - - - - - - 47
3-8-2 Steps to run the program on Raspberry Pi 2 Model B - - - - - 50
3-9 Steps to operate mobile robot car - - - - - - - - - - - . 51
Chapter 4 Design Specification - - - - - - - - - - - - - - .. 56
4-1 Methodology - - - - - - - - - - - - - - - - - 56
4-1-1 QR code acts as correction point methodology - - - - - - . 56
4-1-2 Prototyping Model - - - - - - - - - - - - - - 60
4-1-3 Distances Travelled Methodology - - - - - - - - - - 62
4-1-4 Monitoring System On Web Page Methodology - - - - - - .. 63
4-2 Tools - - - - - - - - - - - - - - - - - - - 64
4-2-1 Hardware Tools - - - - - - - - - - - - - - .. 64
4-2-2 Software tools - - - - - - - - - - - - - - - . 79
4-3 Requirement - - - - - - - - - - - - - - - - - .. 82
Chapter 5 Implementation And Testing - - - - - - - - - - - - .. 85
5-1 Experiment………………………………………………………………… - 85
Chapter 6 Conclusion…………………………………………………………………..88
6-1 Future Work - - - - - - - - - - - - - - - - - 89
Bibliography - - - - - - - - - - - - - - - - - - - .. 90
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- [email protected]
- 09019904113
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