Control of Service Robot by Integration of Multiple Intermittent Sensors

Abstract:

In this paper, we design a service robot which not only can plan road to a destination by itself, but also can take an elevator to every floor. For planning road, in order to solve the Hagisonic Stargazer Robot localization system problem which in large environment will need to set a lot of landmark and this way will increase the lead time and memory capacity. So we use the concept of road nodes to combine with Stargazer landmark and Dijkstra’s algorithm. Robot can localize by itself and can plan the shortest road to a destination. In dead region of Stargazer, we integrate with a laser range finder and e-compass to assist robot in navigation, and use the laser range finder simultaneously to avoid front obstacle. For taking elevator, we design a wireless control of independent mechanism. Robot can use Xbee transmit command to control servo motor to push elevator button and use RFID to determine whether the arrival task Floor. Last, we use Borland C++ Builder to design a Human–Computer interaction. People can operate monitor to choice receiver, and we add the functions of remote call and setting code which can increase the practicability of this service robots.

• Periodical: Advanced Materials Research (Volume 939)
• Pages: 609-614
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.939.609
• Online since: May 2014
• Authors: Liang Kuang Chen*, Mao Yuan Hsiao
• Keywords: Across Floor Navigation, Dijkstra’s Algorithm, Sensor Fusion

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