An Embedded System Design to Build Real-Time 2D Maps for Unknown Indoor Environments

Year 2019, Volume: 23 Issue: 4, 617 - 632, 01.08.2019

Ercan Coşgun , Hayriye Korkmaz , Kenan Toker

https://doi.org/10.16984/saufenbilder.453926

Cited By: 1

Abstract

In this paper, a remotely controllable, differentially driven
wheeled mobile robot was developed in order to build 2D maps of unknown indoor
environments; this system would eliminate the need to pre-explore such
environments. Main aim of the study is to develop a system with high accuracy
by using minimum number of sensors and a processor with low cost especially for
comparatively small indoor areas. The distance traveled was calculated using
the wheel odometry method. Obstacles surrounding the robot, the distance
traveled, and the robot’s orientation were obtained using an ultrasonic
distance sensor, optical encoder, and a 3D orientation sensor (also known as an
Attitude and Heading Reference System –AHRS), respectively. In addition, the
characteristics of the system hardware components were empirically explored,
and the errors resulting from the sensors were evaluated. The non-linearity
percentage error arising from the encoder was defined and then compensated for.
The hysteresis behavior of the ultrasonic distance sensors was also empirically
tested. All of the tasks were conducted by using a low-cost FPGA (Field
Programmable Gate Arrays) board. This study used the graphical development
platform, National Instruments (NI) LabVIEW, and it’s FPGA Module which is used
for programming of embedded systems instead of the text-based HDLs (Hardware
Description Languages). This distinguishes the proposed system from similar
prior studies.

Keywords

Wheel Odometry Errors, Indoor Mapping, LabVIEW FPGA Module, distance measurement

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