saujs

Sakarya University Journal of Science

2147-835X

Sakarya University

10.16984/saufenbilder.453926

Electrical Engineering

Elektrik Mühendisliği

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

https://orcid.org/0000-0003-4387-3699

Coşgun

Ercan

KIRKLARELİ ÜNİVERSİTESİ

https://orcid.org/0000-0002-5994-7587

Korkmaz

Hayriye

MARMARA ÜNİVERSİTESİ

https://orcid.org/0000-0001-8568-4277

Toker

Kenan

MARMARA ÜNİVERSİTESİ

08 01 2019

23 4 617 632 08 16 2018 02 13 2019

1997

Sakarya University Journal of Science

In this paper, a remotely controllable, differentially drivenwheeled mobile robot was developed in order to build 2D maps of unknown indoorenvironments; this system would eliminate the need to pre-explore suchenvironments. Main aim of the study is to develop a system with high accuracyby using minimum number of sensors and a processor with low cost especially forcomparatively small indoor areas. The distance traveled was calculated usingthe wheel odometry method. Obstacles surrounding the robot, the distancetraveled, and the robot’s orientation were obtained using an ultrasonicdistance sensor, optical encoder, and a 3D orientation sensor (also known as anAttitude and Heading Reference System –AHRS), respectively. In addition, thecharacteristics of the system hardware components were empirically explored,and the errors resulting from the sensors were evaluated. The non-linearitypercentage error arising from the encoder was defined and then compensated for.The hysteresis behavior of the ultrasonic distance sensors was also empiricallytested. All of the tasks were conducted by using a low-cost FPGA (FieldProgrammable Gate Arrays) board. This study used the graphical developmentplatform, National Instruments (NI) LabVIEW, and it’s FPGA Module which is usedfor programming of embedded systems instead of the text-based HDLs (HardwareDescription Languages). This distinguishes the proposed system from similarprior studies.

Wheel Odometry Errors Indoor Mapping LabVIEW FPGA Module distance measurement

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