v
TABLE OF CONTENT
Abstract i
Abstrak ii
Dedication iii
Acknowledgement iv
Table of Content v
List of Tables viii
List of Figures xi
List of Abbreviations xii
1. INTRODUCTION 1
1.1 Background 1
1.2 Motivation 3
1.3 Problem statement 4
1.4 Objectives 4
1.5 Scope 5
1.6 Report structure 6
2. LITERATURE REVIEW 7
2.1 Overview of mobile robot 7
2.2 Robot navigation 8
2.2.1 Landmark based navigation 8
2.2.1.1 Natural landmarks 9
2.2.1.2 Artificial landmarks 10
2.2.2 Line following 10
2.2.3 Global Positioning System GPS 12
2.3 Problems faced by mobile robot 13
2.3.1Speed 14
2.3.2 Cornering performance 15
2.3.3 Sensors 15
vi 2.3.4 Natural landmark sensoring
16 2.3.5 Artificial landmark sensoring
17 2.3.6 Exploiting wheel slips
18 2.3.7 Obstacle avoidance
20 2.4 Summary
21
3. METHODOLOGY 21
3.1 Overall methodology 23
3.2 Literature review 23
3.3 Planning 25
3.3.1 Generate basic idea 25
3.3.2 Check each components 25
3.3.3 Identify experiment concept 26
3.4 Design of experiment 27
3.4.1 Designing the programming 27
3.4.2 Check input and output 27
3.4.3 Preliminary test 28
3.5 Testing of the hardware 29
3.5.1 Experimental setup 30
3.5.2 Experiment procedure 31
3.5.3 Data collection 32
3.5.4 Expected results 32
3.6 Summary 33
4. RESULTS AND DISCUSSION 34
4.1 Specification of input and output 34
4.2 Programming flowchart 37
4.2.1 Flowchart 37
4.3 Programming and simulation 38
4.4 Simulation result 41
4.4.1 Programming with reverse action 41
4.4.2 Programming without reverse action 45 4.5 Wiring debugging
50 4.6 Uploading programming
51
vii 4.7 Navigation experiments 52
4.8 Experiment requirement 53
4.9 Navigation experiments results 54
4.9.1 Transistor effect 54
4.9.2 For the distance between the sensor 4 cm with reverse action 58 4.9.3 For the distance between the sensor 3 cm with reverse action 62
4.9.4 The distance between the sensor 4 cm without reverse action 66 4.9.5 The distance between the sensor 3 cm without reverse action
70
4.10 Discussion 74
5. CONCLUSION AND RECOMMENDATION 75
