2-D Environment Scanning & Navigation using AI based autonomous mobile robot

Project Title

2-D Environment Scanning & Navigation using AI based autonomous mobile robot

Project Area of Specialization RoboticsProject Summary

Main Reasons:

Safe, smooth and intelligent world is the utmost desire of the modern human being. We want our daily life routine completely inspired by the objects that could perform their task without our physical involvement. Among all the other human desire for intelligent world, the one desire is the need for automatically and completely autonomous environment analyzing path planning robot vehicle. We want to create a project that could achieve that objective.

Theme of the Project:

Mobile robot navigation through cluttered environment from the initial position to goal with optimal path is to be achieved through intelligent autonomous ground vehicles. Path planning in mobile robotics refers to strategies to determine how a mobile robot gets to its destination safely insuring that obstacles are avoided. To successfully achieve path planning, we will develop an autonomous robot expected to possess the ability to perceive and detect obstacles to be avoided and to enable it to reach its destination safely.

Need of Design:

Our goal is to develop real-time intelligent autonomous navigation robot that can sense and interpret information collected from its environment and to determine its position, direction to the destination, avoid obstacles and perform smooth navigation in both structured and unstructured environments. Our robot will be able to perform task safely without the intervention of human being.

Project Objectives

Following are the objective that we want to achieve through this project:

• To design autonomous mobile robot
• To make the robot do 2D scanning of  its environment
• To avoid any collision, making the robot bypass all kinds of obstacles in its path
• To make the robot navigate itself in dynamic and unknown environment
• To make the robot memorize the path and reach its destination when required

Project Implementation Method

According to the environment model, path planning is divided into global path planning based on a complete environment model and local path planning mainly based on sensor information. The global approach generate an optimal path off-line based on the prior map while the local technique select the optimal path from the current node to a sub-target node and revise the path real-timely based on the sensor data. Without complete environment information, local approach are easily trapped in local minima. Therefore, the local methods should be utilized with global techniques. To enhance the efficiency of dynamic planning, we adopt the LiDAR to construct a 2D grid map of the environment. Based on grid map, search algorithm is employed to quickly generate a bounded suboptimal path and keep improving.

Benefits of the Project

Our robot can be used in various fields of life such as transportation, health, security and industrial applications. This robot will be useful in providing the concept for self driven automobiles. This robot can also help in disastrous situations where it would be difficult for us to reach for example providing aid in areas where personnel cannot go due to unrecognised and difficult terrain. It can also used for security purpose such as surveillance of land where human cant go physically. It is a positive step forward in the right direction for AI and robotics in Pakistan

Technical Details of Final Deliverable

Raspberry Pi will act as network junction to communicate between PC and sensors (LIDAR as main sensor) and motors. It reads Scanning data and Encoder data from the LIDAR and sends them to the PC. The cloud points from the LIDAR scanning would be separated in different clusters of points representing different object in the environment.

Raspberry Pi will drive the robot through the obstacles to its destination memorizing and giving the complete path that the robot followed. If the robot is required to go on the same path it could do it without any difficulty.

Final Deliverable of the Project Hardware SystemCore Industry TransportationOther Industries Health , Security Core Technology RoboticsOther Technologies Artificial Intelligence(AI)Sustainable Development Goals Decent Work and Economic Growth, Sustainable Cities and Communities, Life on LandRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	45600
RP LiDAR	Equipment	1	19000	19000
Raspberry Pi 3B	Equipment	1	6500	6500
Motors	Equipment	4	2500	10000
robot chesis	Equipment	1	2000	2000
motor drive circuit	Equipment	1	600	600
DC battery	Equipment	1	3500	3500
Arduino mega	Equipment	1	1000	1000
Miscellaneous	Miscellaneous	1	3000	3000