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Intelligent Navigation System of mobile robot with ten Ultrasonic sensors, user interface via C# Windows Form Application, instructions and videos on how to assemble mobile robotic platform

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Intelligent Mobile Robot

Intelligent Navigation System of Mobile Robot.
DOI

Reference to:

Valentyn N Sichkar. Intelligent Navigation System of Mobile Robot // GitHub platform. DOI: 10.5281/zenodo.1317906

Related works:

Description

Hardware - Arduino Mega, Motor Shield L298P, DC Motors, Ultrasonic Sensors, Gyroscope, Laser Sensors, Cameras, Lidar Sensor, Bluetooth Module, Batteries, Six Wheel High Pass Base with Active Suspension.
Software - C# via Visual Studio, Python, Arduino IDE, Android SDK, Matlab.
Development - Algorithms for Overcoming Obstacles, Algorithms for Localization, Algorithms for Mapping, SLAM Algorithms.

Content

Codes (it'll send you to appropriate folder):


Experimental results (figures and tables on this page):

Explaining the main goals of the Project


Connecting and checking the High Pass Six Wheel Base - HPSWB - for simple commands to move


General view of the Motor Shield L298P is shown below on the figure
L298P


The view from the top of Motor Shield L298P and showing the main connectors that are needed for the Project.
L298P_top_view


General view of the DC Motor
DC_Motor


Connection DC Motors to the Shield
Connection_DC_Motors


General view of the Bluetooth Module HC-06
Bluetooth_Module_HC-06


Connection Bluetooth Module HC-06 to the Shield or Arduino
Connection_Bluetooth_Module


More about equipment


General view of the Ultrasonic Sensor US-015
Ultrasonic_Sensor_US-015


Connection Ultrasonic Sensor US-015 (or HC-SR04) to the Arduino
Connection_Ultrasonic_Sensor


Equations for Ultrasonic Sensors, explaining how they work
Equasions_for_Ultrasonic_Sensor


Checking the environment around with Ultrasonic Sensors US-015
HPSWB with Ultrasonic Sensors - view from the front
Front


HPSWB with Ultrasonic Sensors - view from the back
Back


HPSWB with Ultrasonic Sensors - view from one side
Side


Figure below shows the results of working system in Real Time by SPARQL Querying of the Knowledge Base
SPARQL_Querying


This figure shows the results of Neural Network Knowledge Base
NNKB


With the help of Ultrasonic Sensors and seeing the obstacles to avoid the collisions


Checking the environment around with Ten Ultrasonic Sensors HC-SR04
HPSWB - view from the front
Front

User interface with ten ultrasonic sensors


The way how to connect Master and Slave Arduino Mega together through Serial Port
Two_Arduino_Mega


Implementing and testing Algorithms for HPSWB

Obstacle overcoming


MIT License

Copyright (c) 2018 Valentyn N Sichkar

github.com/sichkar-valentyn

Reference to:

Valentyn N Sichkar. Intelligent Navigation System of Mobile Robot // GitHub platform. DOI: 10.5281/zenodo.1317906