Title :
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
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;
Conference_Titel :
ELMAR, 2011 Proceedings
Conference_Location :
Zadar
Print_ISBN :
978-1-61284-949-2
Electronic_ISBN :
1334-2630
