Research Article
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Autonomous Cargo Carrier Robot in GPS Denied Indoor Environment

Year 2023, Volume: 12 Issue: 4, 1139 - 1149, 28.12.2023

Hakan Üçgün Fatmanur Kırboğa

https://doi.org/10.17798/bitlisfen.1347396

Abstract

The mobile robot industry, which has become a rapidly growing sector, can easily perform many activities or tasks that can be dangerous, laborious or tiring for humans. A mobile robot helps people by performing the desired tasks in areas such as medical, military, household and cargo. Robots, which perform their duties indoor or outdoor environments, use navigation systems to reach the desired destination. While the global positioning system is generally used in the external environment, different navigation methods are used in the indoor environment. The accuracy of navigation is of great importance when passing through complex, narrow and obstructed roads while going to the relevant target location in the indoor environment. In this study, a cargo carrier robot that can autonomously travel to a location determined by the user in indoor conditions has been developed. After the target point is determined, the cargo vehicle takes action automatically from the starting point, and continuously detects location in order to reach the target with the compass sensor on it. Ultrasonic sensors have been used so that the cargo vehicle can continue to move without hitting any object that may come in front of it while it is going to the target location. A mobile application has been developed to give the destination location of the cargo vehicle and to follow the vehicle. The movements of the autonomous vehicle are controlled by the commands sent via Bluetooth.

Keywords

Mobile Robot Indoor Navigation Cargo Robot Compass Sensor Arduino

References

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  • [2] S. Noh, J. Park and J. Park, "Autonomous Mobile Robot Navigation in Indoor Environments: Mapping, Localization, and Planning," in 2020 International Conference on Information and Communication Technology Convergence (ICTC), Jeju, Korea (South), 2020, pp. 908-913. doi: 10.1109/ICTC49870.2020.9289333.
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  • [6] X. Song, X. Liang, Z. Zhijiang and Z. Huaidong, "A Object-augmented Semantic Mapping System for Indoor Mobile Robots," in 2022 IEEE 2nd International Conference on Software Engineering and Artificial Intelligence (SEAI), Xiamen, China, 2022, pp. 225-229. doi: 10.1109/SEAI55746.2022.9832075.
  • [7] R. A. Deshmukh and M. A. Hasamnis, "A navigation scheme for autonomous mobile service robots working in GPS denied commercial indoor spaces," in 2023 International Conference on Communication, Circuits, and Systems (IC3S), BHUBANESWAR, India, 2023, pp. 1-5. doi: 10.1109/IC3S57698.2023.10169514.
  • [8] A. Suhana Nafais, S. L. Cibi, A. Harish Kumar, M. Tharani and S. P. Viswak Avinash, "An IoT based Intelligent Cargo Carrier," in 2023 7th International Conference on Intelligent Computing and Control Systems (ICICCS), Madurai, India, 2023, pp. 1569-1574. doi: 10.1109/ICICCS56967.2023.10142786.
  • [9] Y. I. Chandra, Irfan and A. S. R. Putro, "Cargo Simulation Robot Prototype with Bluetooth Based Motor Driver Shield Using Arduino Uno Microcontroller", International Journal of Artificial Intelligence & Robotics (IJAIR), vol. 4, no. 1, pp. 1-8, 2022. https://doi.org/10.25139/ijair.v4i1.4326.
  • [10] T. Kang, J. Kim, D. Song, T. Kim and S. -J. Yi, "Design and Control of a Service Robot with Modular Cargo Spaces," in 2021 18th International Conference on Ubiquitous Robots (UR), Gangneung, Korea (South), 2021, pp. 595-600. doi: 10.1109/UR52253.2021.9494635.
  • [11] H. Zeng, Z. Zhang, and Y. Hong, “Control system design of an intelligent food delivery robot,” E3S Web Conf., vol. 267, p. 01059, 2021. https://doi.org/10.1051/e3sconf/202126701059.
  • [12] X. Tan, S. Zhang and Q. Wu, "Research on Omnidirectional Indoor Mobile Robot System Based on Multi-sensor Fusion," in 2021 5th International Conference on Vision, Image and Signal Processing (ICVISP), Kuala Lumpur, Malaysia, 2021, pp. 111-117. doi: 10.1109/ICVISP54630.2021.00028.
  • [13] P. Wu and D. Wen, "Positioning Information System of Indoor Food Delivery Robot Based on UWB", J. Phys. Conf. Ser., vol. 1732, no. 1, p. 012129, 2021. doi: 10.1088/1742-6596/1732/1/012129.
  • [14] Y. Sun, L. Guan, Z. Chang, C. Li and Y. Gao, "Design of a Low-Cost Indoor Navigation System for Food Delivery Robot Based on Multi-Sensor Information Fusion", Sensors, vol. 19, no. 22, pp. 1-26, 2019. https://doi.org/10.3390/s19224980.
  • [15] H. Cao, X. Huang, J. Zhuang, J. Xu and Z. Shao, "CIoT-Robot: Cloud and IoT Assisted Indoor Robot for Medicine Delivery", in Procedings 2018 Joint International Advanced Engineering and Technology Research Conference (JIAET 2018), Xi'an, China, 2018, pp. 1-5. doi: 10.2991/jiaet-18.2018.14.
  • [16] M. Tupac-Yupanqui, C. Vidal-Silva, L. Pavesi-Farriol, A. Sánchez Ortiz, J. Cardenas-Cobo and F. Pereira, "Exploiting Arduino Features to Develop Programming Competencies," IEEE Access, vol. 10, pp. 20602-20615, 2022. doi: 10.1109/ACCESS.2022.3150101.

Year 2023, Volume: 12 Issue: 4, 1139 - 1149, 28.12.2023

Hakan Üçgün Fatmanur Kırboğa

https://doi.org/10.17798/bitlisfen.1347396

Abstract

References

  • [1] S. I. A. P. Diddeniya, A. M. S. B. Adikari, H. N. Gunasinghe, P. R. S. De Silva, N. C. Ganegoda and W. K. I. L. Wanniarachchi, "Vision Based Office Assistant Robot System for Indoor Office Environment," in 2018 3rd International Conference on Information Technology Research (ICITR), Moratuwa, Sri Lanka, 2018, pp. 1-6. doi: 10.1109/ICITR.2018.8736141.
  • [2] S. Noh, J. Park and J. Park, "Autonomous Mobile Robot Navigation in Indoor Environments: Mapping, Localization, and Planning," in 2020 International Conference on Information and Communication Technology Convergence (ICTC), Jeju, Korea (South), 2020, pp. 908-913. doi: 10.1109/ICTC49870.2020.9289333.
  • [3] J. Huang, S. Junginger, H. Liu, and K. Thurow, "Indoor Positioning Systems of Mobile Robots: A Review" Robotics, vol. 12, no. 2, p. 47, 2023. https://doi.org/10.3390/robotics12020047.
  • [4] X. He, Y. Kuang, N. Song and F. Liu, "Intelligent Navigation of Indoor Robot Based on Improved DDPG Algorithm", Mathematical Problems in Engineering, vol. 2023, pp. 1-11, 2023. https://doi.org/10.1155/2023/6544029.
  • [5] A. Loganathan and N. S. Ahmad, "A systematic review on recent advances in autonomous mobile robot navigation", Engineering Science and Technology, an International Journal, vol. 40, no. 101343, p. 101343, 2023. https://doi.org/10.1016/j.jestch.2023.101343.
  • [6] X. Song, X. Liang, Z. Zhijiang and Z. Huaidong, "A Object-augmented Semantic Mapping System for Indoor Mobile Robots," in 2022 IEEE 2nd International Conference on Software Engineering and Artificial Intelligence (SEAI), Xiamen, China, 2022, pp. 225-229. doi: 10.1109/SEAI55746.2022.9832075.
  • [7] R. A. Deshmukh and M. A. Hasamnis, "A navigation scheme for autonomous mobile service robots working in GPS denied commercial indoor spaces," in 2023 International Conference on Communication, Circuits, and Systems (IC3S), BHUBANESWAR, India, 2023, pp. 1-5. doi: 10.1109/IC3S57698.2023.10169514.
  • [8] A. Suhana Nafais, S. L. Cibi, A. Harish Kumar, M. Tharani and S. P. Viswak Avinash, "An IoT based Intelligent Cargo Carrier," in 2023 7th International Conference on Intelligent Computing and Control Systems (ICICCS), Madurai, India, 2023, pp. 1569-1574. doi: 10.1109/ICICCS56967.2023.10142786.
  • [9] Y. I. Chandra, Irfan and A. S. R. Putro, "Cargo Simulation Robot Prototype with Bluetooth Based Motor Driver Shield Using Arduino Uno Microcontroller", International Journal of Artificial Intelligence & Robotics (IJAIR), vol. 4, no. 1, pp. 1-8, 2022. https://doi.org/10.25139/ijair.v4i1.4326.
  • [10] T. Kang, J. Kim, D. Song, T. Kim and S. -J. Yi, "Design and Control of a Service Robot with Modular Cargo Spaces," in 2021 18th International Conference on Ubiquitous Robots (UR), Gangneung, Korea (South), 2021, pp. 595-600. doi: 10.1109/UR52253.2021.9494635.
  • [11] H. Zeng, Z. Zhang, and Y. Hong, “Control system design of an intelligent food delivery robot,” E3S Web Conf., vol. 267, p. 01059, 2021. https://doi.org/10.1051/e3sconf/202126701059.
  • [12] X. Tan, S. Zhang and Q. Wu, "Research on Omnidirectional Indoor Mobile Robot System Based on Multi-sensor Fusion," in 2021 5th International Conference on Vision, Image and Signal Processing (ICVISP), Kuala Lumpur, Malaysia, 2021, pp. 111-117. doi: 10.1109/ICVISP54630.2021.00028.
  • [13] P. Wu and D. Wen, "Positioning Information System of Indoor Food Delivery Robot Based on UWB", J. Phys. Conf. Ser., vol. 1732, no. 1, p. 012129, 2021. doi: 10.1088/1742-6596/1732/1/012129.
  • [14] Y. Sun, L. Guan, Z. Chang, C. Li and Y. Gao, "Design of a Low-Cost Indoor Navigation System for Food Delivery Robot Based on Multi-Sensor Information Fusion", Sensors, vol. 19, no. 22, pp. 1-26, 2019. https://doi.org/10.3390/s19224980.
  • [15] H. Cao, X. Huang, J. Zhuang, J. Xu and Z. Shao, "CIoT-Robot: Cloud and IoT Assisted Indoor Robot for Medicine Delivery", in Procedings 2018 Joint International Advanced Engineering and Technology Research Conference (JIAET 2018), Xi'an, China, 2018, pp. 1-5. doi: 10.2991/jiaet-18.2018.14.
  • [16] M. Tupac-Yupanqui, C. Vidal-Silva, L. Pavesi-Farriol, A. Sánchez Ortiz, J. Cardenas-Cobo and F. Pereira, "Exploiting Arduino Features to Develop Programming Competencies," IEEE Access, vol. 10, pp. 20602-20615, 2022. doi: 10.1109/ACCESS.2022.3150101.
There are 16 citations in total.

Details

Primary Language English
Subjects Embedded Systems
Journal Section Araştırma Makalesi
Authors

Hakan Üçgün 0000-0002-9448-0679

Fatmanur Kırboğa 0009-0007-9715-0898

Early Pub Date December 25, 2023
Publication Date December 28, 2023
Submission Date August 21, 2023
Acceptance Date October 16, 2023
Published in Issue Year 2023 Volume: 12 Issue: 4

Cite

IEEE H. Üçgün and F. Kırboğa, “Autonomous Cargo Carrier Robot in GPS Denied Indoor Environment”, Bitlis Eren Üniversitesi Fen Bilimleri Dergisi, vol. 12, no. 4, pp. 1139–1149, 2023, doi: 10.17798/bitlisfen.1347396.
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Bitlis Eren University
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Bitlis Eren University Graduate Institute
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