Intelligent_Mobile_Robot

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Intelligent_Mobile_Robot

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Intelligent Navigation System of mobile robot with ten Ultrasonic sensors, user interface via C# Windows Form Application, instructions and videos on how to assemble mobile robotic platform

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# Intelligent Mobile Robot
Intelligent Navigation System of Mobile Robot.
 [![DOI](https://zenodo.org/badge/DOI/10.5281/zenodo.1317906.svg)](https://doi.org/10.5281/zenodo.1317906)

### Reference to:
Valentyn N Sichkar. Intelligent Navigation System of Mobile Robot // GitHub platform. DOI: 10.5281/zenodo.1317906

### Related works:
* Sichkar V. N. Effect of various dimension convolutional layer filters on traffic sign classification accuracy. Scientific and Technical Journal of Information Technologies, Mechanics and Optics, 2019, vol. 19, no. 3, pp. DOI: <a href="https://doi.org/10.17586/2226-1494-2019-19-3-546-552" target="_blank">10.17586/2226-1494-2019-19-3-546-552</a> (Full-text available also here https://www.researchgate.net/profile/Valentyn_Sichkar)

* Sichkar V.N. Comparison analysis of knowledge based systems for navigation of mobile robot and collision avoidance with obstacles in unknown environment. St. Petersburg State Polytechnical University Journal. Computer Science. Telecommunications and Control Systems, 2018, Vol. 11, No. 2, Pp. 64–73. DOI: <a href="https://doi.org/10.18721/JCSTCS.11206" target="_blank">10.18721/JCSTCS.11206</a> (Full-text available also here https://www.researchgate.net/profile/Valentyn_Sichkar)

* The investigation of Reinforcement Learning for the tasks of shortest path planning is put in separate repository and is available here: https://github.com/sichkar-valentyn/Reinforcement_Learning_in_Python

* The research results for Neural Network Knowledge Based system for the tasks of collision avoidance is put in separate repository and is available here: https://github.com/sichkar-valentyn/Matlab_implementation_of_Neural_Networks

* The study of Semantic Web languages OWL and RDF for Knowledge representation of Alarm-Warning System is put in separate repository and is available here: https://github.com/sichkar-valentyn/Knowledge_Base_Represented_by_Semantic_Web_Language

* The study of Semantic Representation of knowledge and querying of it through owl files with SPARQL is put in separate repository and is available here: https://github.com/sichkar-valentyn/System_programming_for_SPARQL_querying_with_interface_development_by_html_files

* The study of Neural Networks for Computer Vision in autonomous vehicles and robotics is put in separate repository and is available here: https://github.com/sichkar-valentyn/Neural_Networks_for_Computer_Vision

## Description
Hardware - Arduino Mega, Motor Shield L298P, DC Motors, Ultrasonic Sensors, Gyroscope, Laser Sensors, Cameras, Lidar Sensor, Bluetooth Module, Batteries, Six Wheel High Pass Base with Active Suspension.
 Software - C# via Visual Studio, Python, Arduino IDE, Android SDK, Matlab.
 Development - Algorithms for Overcoming Obstacles, Algorithms for Localization, Algorithms for Mapping, SLAM Algorithms.

## Content
Codes (it'll send you to appropriate folder):
* [C# Windows Form Application](https://github.com/sichkar-valentyn/Intelligent_Mobile_Robot/tree/master/Collision_Avoidance_5_Ultrasonic_Sensors/CS_5_ultrasonic_sensors)
* [Arduino Sketch (based on  C/C++)](https://github.com/sichkar-valentyn/Intelligent_Mobile_Robot/tree/master/Collision_Avoidance_5_Ultrasonic_Sensors/sketch_mobile_robot_5_sensors)

Experimental results (figures and tables on this page):

* [Introduction](#introduction)
* [Connecting DC Motors](#connecting-dc-motors)
* [More information about equipment](#more-information-about-equipment)
* [Adding FIVE Ultrasonic sensors US-015](#adding-five-ultrasonic-sensors-us-015)
* [Checking the abilities to stop before the possible collisions with obstacles](#checking-the-abilities-to-stop-before-the-possible-collisions-with-obstacles)
* [Adding TEN Ultrasonic sensors HC-SR04](#adding-ten-ultrasonic-sensors-hc-sr04)
* [Connecting two Arduino Mega together](#connecting-two-arduino-mega-together)
* [Checking the abilities to overcome obstacles](#checking-the-abilities-to-overcome-obstacles)

### <a id="introduction">Introduction</a>
Explaining the main goals of the Project

### <a id="connecting-dc-motors">Connecting DC Motors</a>
Connecting and checking the High Pass Six Wheel Base - HPSWB - for simple commands to move

### <a id="more-information-about-equipment">More information about equipment</a>
General view of the Motor Shield L298P is shown below on the figure
 <img src="/images/L298P.jpg" alt="L298P" width="500"/>

The view from the top of Motor Shield L298P and showing the main connectors that are needed for the Project.
 <img src="/images/L298P_top_view.png" alt="L298P_top_view" width="500"/>

General view of the DC Motor
 <img src="/images/DC_Motors.png" alt="DC_Motor" width="200"/>

Connection DC Motors to the Shield
 <img src="/images/DC_Motors_7.png" alt="Connection_DC_Motors" width="500"/>

General view of the Bluetooth Module HC-06
 <img src="/images/Bluetooth_Module_HC-06.jpg" alt="Bluetooth_Module_HC-06" width="200"/>

Connection Bluetooth Module HC-06 to the Shield or Arduino
 <img src="/images/HC-06_Connectors.jpg" alt="Connection_Bluetooth_Module" width="500"/>

More about equipment

General view of the Ultrasonic Sensor US-015
 <img src="/images/General_View_of_US-015.jpg" alt="Ultrasonic_Sensor_US-015" width="200"/>

Connection Ultrasonic Sensor US-015 (or HC-SR04) to the Arduino
 <img src="/images/Connection_of_Ultrasonic_Sensor.png" alt="Connection_Ultrasonic_Sensor" width="500" />

Equations for Ultrasonic Sensors, explaining how they work
 <img src="/images/Equasions_for_Ultrasonic_Sensor.png" alt="Equasions_for_Ultrasonic_Sensor" width="500" />

### <a id="adding-five-ultrasonic-sensors-us-015">Adding FIVE Ultrasonic sensors US-015</a>
Checking the environment around with Ultrasonic Sensors US-015
 HPSWB with Ultrasonic Sensors - view from the front
 <img src="/images/SWB_with_Ultrasonic_Sensors_Front.jpg" alt="Front" width="500" />

HPSWB with Ultrasonic Sensors - view from the back
 <img src="/images/SWB_with_Ultrasonic_Sensors_Back.jpg" alt="Back" width="500" />

HPSWB with Ultrasonic Sensors - view from one side
 <img src="/images/SWB_with_Ultrasonic_Sensors_Side.jpg" alt="Side" width="500" />

Figure below shows the results of working system in Real Time by SPARQL Querying of the Knowledge Base
 <img src="/images/SPARQL_Querying_of_KB.png" alt="SPARQL_Querying" width="500" />

This figure shows the results of Neural Network Knowledge Base
 <img src="/images/Results_of_the_Neural_Network.png" alt="NNKB" width="500" />

### <a id="checking-the-abilities-to-stop-before-the-possible-collisions-with-obstacles">Checking the abilities to stop before the possible collisions with obstacles</a>
With the help of Ultrasonic Sensors and seeing the obstacles to avoid the collisions

### <a id="adding-ten-ultrasonic-sensors-hc-sr04">Adding TEN Ultrasonic sensors HC-SR04</a>
Checking the environment around with Ten Ultrasonic Sensors HC-SR04
 HPSWB - view from the front
 <img src="/images/HPSWB_with_Ten_Ultrasonic_Sensors.jpg" alt="Front" width="500" />

### <a id="connecting-two-arduino-mega-together">Connecting two Arduino Mega together</a>
The way how to connect Master and Slave Arduino Mega together through Serial Port
 <img src="/images/2ArduinoMega2560.png" alt="Two_Arduino_Mega" width="500" />

### <a id="checking-the-abilities-to-overcome-obstacles">Checking the abilities to overcome obstacles</a>
Implementing and testing Algorithms for HPSWB

### MIT License
### Copyright (c) 2018 Valentyn N Sichkar
### github.com/sichkar-valentyn
### Reference to:
Valentyn N Sichkar. Intelligent Navigation System of Mobile Robot // GitHub platform. DOI: 10.5281/zenodo.1317906

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