v
TABLE OF CONTENT
Abstrak i
Abstract ii
Dedication iii
Acknowledgement iv
Table of Content v
List of Tables ix
List of Figures x
List Abbreviations, Symbols and Nomenclatures xiii
CHAPTER 1: INTRODUCTION 1
1.1 Background
1 1.2
Motivation 2
1.3 Problem Statement
3 1.4
Project Objectives 4
1.5 Project Scopes
4 1.6
Report Structure 4
CHAPTER 2: LITERATURE REVIEW 6
2.1 Vehicle Guidance Technology of Mobile Robot
6 2.2
Traditional Navigation of Mobile Robot 8
2.2.1 Wire Guidance
8 2.2.2
Laser Guidance 9
2.2.3 Tape Guidance
10 2.2.4
Inertial Guidance 11
2.2.5 Problem in Navigation of Mobile Robot
12 2.3
Current Navigation Method of Mobile Robot 13
2.3.1 Wi-Fi or Wireless LAN Remote Control
13 2.3.2
Bluetooth 14
2.3.3 3G
16 2.4
Wireless Voice Recognition Based Remote Control for Mobile Robot 17
vi 2.5
Summary 20
CHAPTER 3: METHODOLOGY 21
3.1 Introduction
21 3.2
Overall Method 22
3.3 Design and Planning Part A
23 3.3.1
Understanding the System Design and Operation 23
3.3.2 Selection of Hardware and Software
24 3.3.2.1
Microcontroller Unit 24
3.3.2.2 Voice Recognition Unit
26 3.3.2.3
Wireless Transmitter and Receiver Unit 27
3.3.2.4 Arduino IDE Software
29 3.3.2.5
X-CTU Software 29
3.3.2.6 EasyVR Commander Software
29 3.4
Development Process Part B 30
3.4.1 Microcontroller Unit Setup and Test
30 3.4.2
Voice Recognition Unit Setup and Test 31
3.4.3 Wireless Transmitter and Receiver Unit Setup and Test
31 3.4.4
Interface All Units 31
3.4.5 Testing
32 3.4.6
Troubleshooting 32
3.5 Analysis and Testing Part C
32 3.5.1
Overall Function Test 32
3.5.2 Experimental Design
33 3.5.3
Performance Analysis 34
3.5.4 Troubleshooting
35 3.6
Summary 35
CHAPTER 4: RESULT DISCUSSION 36
4.1 Design and Planning Result
36 4.1.1
Wireless Transmitter Unit 36
4.1.1.1 Selected Hardware for Wireless Transmitter Unit
37 4.1.1.2
Circuit Design for Wireless Transmitter Part 39
vii 4.1.2
Wireless Receiver Part 39
4.1.2.1 Selected Hardware for Receiver Part
39 4.1.2.2
Circuit Design for Wireless Receiver Part 41
4.1.3 Selected Software’s
41 4.2
Development Result 43
4.2.1 Arduino UNO Microcontroller Unit Setup and Test Result
43 4.2.1.1
Using Example Code to Blinking “L” LED on 43
Arduino UNO 4.2.2
Voice Recognition Unit Setup and Test Result 47
4.2.2.1 Train EasyVR Voice Recognition Module Using
48 EasyVR Commander
4.2.3 XBee Wireless Unit Setup and Test Result
51 4.2.3.1
XBee Shield Transmitter Module 51
4.2.3.2 XBee Shield Receiver Module
59 4.2.4
Interfacing All Modules 60
4.2.4.1 Wireless Transmitter Module Assembly
61 4.2.4.2
Wireless Receiver Module Assembly 65
4.3 Analysis and Testing Result
66 4.3.1
Preliminary Test 66
4.3.1.1 Result for Preliminary Test
67 4.3.1.2
Analysis for Preliminary Test 67
4.3.2 “Forward and Reverse” Test
69 4.3.2.1
Setup for “Forward and Reverse” Test 70
4.3.2.2 Results for “FORWARD and REVERSE” Test
71 4.3.2.3
Analysis for “FORWARD” and “REVERSE” Test 76
4.3.3 “RIGHT” Turn and “LEFT” Turn Test
77 4.3.3.1
Setup for “RIGHT” Turn and “LEFT” Turn Test 77
4.3.3.2 Results for “RIGHT” Turn and “LEFT” Turn Test
79 4.3.3.3
Analysis for “RIGHT” Turn and “LEFT” Turn 81
4.3.4 Overall Function Test
82 4.3.4.1
Results for Overall Function Test 83
4.3.4.2 Analysis for Overall Function Test
89 4.4
Discussion 90
viii 4.5
Summary 92
CHAPTER 5: CONCLUSION FUTURE WORK 93
