Outdoor navigation of a mobile robot using GPS and GPRS communication system

Author

Velagic, Jasmin ; Osmic, Nedim ; Hodzic, Faris ; Siljak, Harun

Author_Institution

Fac. of Electr. Eng., Univ. of Sarajevo, Sarajevo, Bosnia-Herzegovina

fYear

2011

Firstpage

173

Lastpage

177

Abstract

In this paper both hardware and software systems for GPRS communication and GPS navigation are developed. The hardware structure of GPS navigation module was build using Cinterion XT65 platform and appropriate electronic components. The overall navigation system is client-server based that uses GPS and GPRS communications. The GPS communication is used between client (mobile robot) and satellites, while GPRS communication connects server (PC) and client. The algorithm for mobile robot position estimation exploits a triangulation technique. Multiple algorithms (including a fuzzy regulator) for avoiding obstacles are implemented in order to provide safe and precise movement towards the destination point given to robot. The effectiveness and quality of proposed hardware and software structures are verified by experiments.

Keywords

Global Positioning System; client-server systems; mobile robots; packet radio networks; radionavigation; Cinterion XT65 platform; GPRS communication system; GPS navigation module; client-server; electronic components; hardware systems; mobile robot; outdoor navigation; position estimation; satellites; software systems; triangulation technique; Global Positioning System; Ground penetrating radar; Mobile robots; Robot kinematics; Servers; Fuzzy control; GPRS communication; GPS navigation; Mobile robots; client-server system;

fLanguage

English

Publisher

ieee

Conference_Titel

ELMAR, 2011 Proceedings

Conference_Location

Zadar

ISSN

1334-2630

Print_ISBN

978-1-61284-949-2

Electronic_ISBN

1334-2630

Type

conf

Filename

6044302