GPS - based Navigated Autonomous Robot
نویسنده
چکیده
This study proposes a procedure to find a path using an A* algorithm between start and goal locations in the satellite image. In this procedure the buildings in a satellite image are detected depending on roof color, and the search area is divided into a grid depending on the approximate cell decomposition method. The selected path is sent to autonomous robot via Wi-Fi communication as a series of set points for real implementation in an outdoor environment. The mobile robot navigates its way to each point in the path using Global Positioning System (GPS) and digital compass, and 5 sharp IR sensors are used for detecting and avoiding all obstacles in its way. A Proportional-Integral-Derivative (PID) controller is used to make the robot move in a straight line and obtains minimum perturbations to the goal by controlling the speed of each side of the mobile robot motors depending on the digital compass readings. From the obtained results, the path of the mobile robot without PID controller deviated by up to more than 2 meters from the selected path, but when using a PID controller the deviations decreased to less than 1 meter. The mobile robot reached a distance of less than three meters from the final target, an error attributable to GPS accuracy.
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