Undefined Obstacle Avoidance and Path Planning

Akram Hossain; Tanima Zaman

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Conference: 2013 ASEE Annual Conference & Exposition
Location: Atlanta, Georgia
Publication Date: June 23, 2013
Start Date: June 23, 2013
End Date: June 26, 2013
ISSN: 2153-5965
Conference Session: Instrumentation Technical Session II
Tagged Division: Instrumentation
Page Count: 16
Page Numbers: 23.1275.1 - 23.1275.16
DOI: 10.18260/1-2--22660
Permanent URL: https://peer.asee.org/22660
Download Count: 408

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Paper Authors

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Akram Hossain Purdue University, Calumet (Tech)

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Akram Hossain is a professor in the department of Engineering Technology and director of the Center for Packaging Machinery Industry at Purdue University Calumet, Hammond, IN. He worked eight years in industry at various capacities. He is working with Purdue University Calumet for the past 24 years. He consults for industry on process control, packaging machinery system control and related disciplines. He is a senior member of IEEE. He served in IEEE/Industry Application Society for fifteen years at various capacities. He served as chair of manufacturing Systems Development Applications Department of IEEE/IAS. He authored more than 25 refereed journal and conference publications. In 2009 he as PI received NSF-CCLI grant entitled A Mechatronics Curriculum and Packaging Automation Laboratory Facility. In 2010 he as Co-PI received NSF-ATE grant entitled Meeting Workforce Needs for Mechatronics Technicians. From 2003 through 2006, he was involved with Argonne National Laboratory, Argonne, IL in developing direct computer control for hydrogen powered automotives. He is also involved in several direct computer control and wireless process control related research projects. His interests are in the area of industrial transducer, industrial process control, modeling and simulation of Mechatronics devices and systems, wireless controls, statistical process control, computer aided design and fabrication of printed circuit board, programmable logic controllers, programmable logic devices and renewable energy related projects.

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Tanima Zaman Ivy Tech Community College, Northwest

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Abstract

Undefined Obstacle Avoidance and Path Planning of an Autonomous Mobile Robot in a Two-Dimensional WorkspaceAbstract:Design and development of robotics applications has always been an ever advancing areaof study in the field of modern automation technology. The concept of introducingmobile robots in familiarizing engineering technology students with various roboticsproblem solving approaches, is widely being implemented for educational purposenowadays. Path Planning and Collision avoidance are two of the most common theoriesapplied for designing and developing advanced autonomous robotics applications. Theobjective of this study was to develop a graphical programming model for the NationalInstrument’s (NI) Robotic Starter Kit (DaNI) in NI LabView Robotics Platform thatincorporates mobile robot path planning and obstacle avoidance concepts. The LabViewprogram enables the mobile robot to travel from a starting point to a user desireddestination point, avoiding undefined obstacles on its route. This paper encompasses thescope to educate engineering technology students with the robotics “Sense, Think andAct” approach where the robot senses for random obstacles on its path via an ultrasonicsensor, makes a decision based on a non-colliding threshold distance in order to executecollision avoidance routine and returns to the process of reaching the predefineddestination point. The motion of the robot is controlled by two pairs of mechanicallygeared wheels driven by two DC Servo Motors.Project Problem Solving Methodology:The LabView programming approach for this project was mainly based on the requiredtravel time in X direction and Y direction for a certain velocity in order to reach thedestination. In order to solve the program for reaching a destination by successfullyavoiding undefined obstacle on the way, two types of variable were considered in thisresearch: independent variables and dependent variables. The independent variables inthis program are predefined by the user. These are: sensor’s Field of View (FoV), thenon-colliding distance, the travel time in X direction, the travel time in Y direction andtravelling speed. Whenever the robot determines an obstacle, the total travel time in boththe directions increases as there are some time elapsed due to performing the collisionavoidance routine. The travel time in this research is represented by the number ofiteration of the while loop. In the collision avoidance routine, every time the robotdetects an obstacle; it reverses, goes in the right hand direction and then tries to reach itsoriginal path of travel. However, it keeps of performing the collision avoidance step untilit sees a clearance. All movements in this case are time dependent. The logical approachfor solving this problem is given below:Figure 11: Process Flow Diagram.

Citation
Format

Hossain, A., & Zaman, T. (2013, June), Undefined Obstacle Avoidance and Path Planning Paper presented at 2013 ASEE Annual Conference & Exposition, Atlanta, Georgia. 10.18260/1-2--22660

TY - CPAPER
AB - Undefined Obstacle Avoidance and Path Planning of an Autonomous Mobile Robot in a Two-Dimensional WorkspaceAbstract:Design and development of robotics applications has always been an ever advancing areaof study in the field of modern automation technology. The concept of introducingmobile robots in familiarizing engineering technology students with various roboticsproblem solving approaches, is widely being implemented for educational purposenowadays. Path Planning and Collision avoidance are two of the most common theoriesapplied for designing and developing advanced autonomous robotics applications. Theobjective of this study was to develop a graphical programming model for the NationalInstrument’s (NI) Robotic Starter Kit (DaNI) in NI LabView Robotics Platform thatincorporates mobile robot path planning and obstacle avoidance concepts. The LabViewprogram enables the mobile robot to travel from a starting point to a user desireddestination point, avoiding undefined obstacles on its route. This paper encompasses thescope to educate engineering technology students with the robotics “Sense, Think andAct” approach where the robot senses for random obstacles on its path via an ultrasonicsensor, makes a decision based on a non-colliding threshold distance in order to executecollision avoidance routine and returns to the process of reaching the predefineddestination point. The motion of the robot is controlled by two pairs of mechanicallygeared wheels driven by two DC Servo Motors.Project Problem Solving Methodology:The LabView programming approach for this project was mainly based on the requiredtravel time in X direction and Y direction for a certain velocity in order to reach thedestination. In order to solve the program for reaching a destination by successfullyavoiding undefined obstacle on the way, two types of variable were considered in thisresearch: independent variables and dependent variables. The independent variables inthis program are predefined by the user. These are: sensor’s Field of View (FoV), thenon-colliding distance, the travel time in X direction, the travel time in Y direction andtravelling speed. Whenever the robot determines an obstacle, the total travel time in boththe directions increases as there are some time elapsed due to performing the collisionavoidance routine. The travel time in this research is represented by the number ofiteration of the while loop. In the collision avoidance routine, every time the robotdetects an obstacle; it reverses, goes in the right hand direction and then tries to reach itsoriginal path of travel. However, it keeps of performing the collision avoidance step untilit sees a clearance. All movements in this case are time dependent. The logical approachfor solving this problem is given below:Figure 11: Process Flow Diagram.
AU - Akram Hossain
AU - Tanima Zaman
CY - Atlanta, Georgia
DA - 2013/06/23
PB - ASEE Conferences
TI - Undefined Obstacle Avoidance and Path Planning
UR - https://peer.asee.org/22660
DO - 10.18260/1-2--22660
ER -