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Development of Mobile Robot Using LIDAR

Technology Based on Arduino Controller
Pavlo Denysyuk, Vasyl Teslyuk Iryna Chorna
CAD Department Separated structural subdivision Educational and Scientific
Lviv Polytechnic National University Institute of Enterprise and Perspective Technologies
Ukraine, Lviv Lviv National Polytechnic University,
pavlo.denysyuk@gmail.com, vasyl.teslyuk@gmail.com Lviv, Ukraine
iryna.chorna@ukr.net

Abstract—In the work, a software model based on the graph- interface software that allows them to control the robot and
based SLAM methodology is developed using the LIDAR monitor the operations that the system performs
technology, which allows direct and automatic control of the automatically.Also, the ability to automatically find the route
mobile robot in real-time.The architecture of the developed distinguishes the developed system from conventional radio-
software and the main algorithms on which the work of the system controlled devices and provides a basis for further improvement
is based is described. The technical support provided by the and the implementation of useful functions.
Arduino microcontroller is developed.Examples of application of
built-in software are given. Accordingly, the purpose of the work is to develop a system
based on the SLAM methodology [10, 11] and LIDAR
Keywords—SLAM methodology, LIDAR technology, mobile technology and will be able to automatically route the path and
robot system, Arduino microcontroller. move to the specified point on the map.
I. INTRODUCTION II. DEVELOPMENT OF TECHNICAL SUPPORT OF THE SYSTEM
Nowadays, robotics occupies a significant place in everyday The Arduino DUE [12] microcontroller is selected for
life of a person [1].Robots are used as assistants in systems of implementation, because it meets all the requirements and is
smart houses [2], in industry, in many fields of science and much faster, compared with other similar functional boards.
technology, and perform a number of works much better than a
person [3, 4]. The development of a system that can For the realization of the system, a LIDAR sensor was used,
independently move and orientate in space is the first step the principle of action of which is similar to the work of the radar
towards the realization of a robotic system with artificial - the directed light beam is reflected from the objects returned to
intelligence. the receiver [13].The disadvantage is the inability to obtain
correct data about the distance to transparent objects. Connection
From a technological point of view, the easiest way to scheme of LIDAR sensor connection is shown in fig.1.
measure the distance to objects in the environment is to use an
ultrasonic sensor [5].However, there is an imperfection in this
type of sensor, that lies in the "blind zone", it occurs when the
sound wave is reflected from surfaces at too large angles,
because of this the sound does not return to the receiver.
The LIDAR technology [6, 7] is the most effective method of
collecting data about the distance to surrounding objects. This
technology is to obtain environmental information through active
optical systems. Using the LIDAR sensor allows you to build a
two-dimensional, or three-dimensional space map. We can
achieve the anthropomorphic behavior of the system [8],
analyzing it with the help of an artificial neural network [9], or
more simple algorithms.
The task of simultaneously constructing a map of space and
positioning on it a mobile robot is not trivial since it requires the
Fig. 1. Simplified LIDAR connection of the sensor
system to work in real time, to ensure the accuracy of
measurements and reduce the impact of errors on the results of In the process of designing a sensor,
work. PiccoloLaserDistanceSensor is used. In standard mode, the laser
There is a wide range of similar systems on the market, but performs 240 revolutions per minute, which provides a complete
in most cases, they do not provide the user with a graphical user update of data 4 times per second.

978-1-5386-5881-9/18/$31.00 ©2018 IEEE

MEMSTECH 2018, 18-22 April, 2018, Polyana-Svalyava (Zakarpattya), UKRAINE

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To connect the control program with the microcontroller the
Bluetooth module HC-06 is used.The signal strength provided by
this module is quite sufficient forcontrolling in a large room.
A gyroscope MPU6050 is used to measure the angle on
which the platform is turned.For the correct operation of the
gyroscope, before using, you must measure the error and
determine the correction factor for the results.As a mobile
platform, the Pirate - 4WD MobilePlatform with four FIT0016
specification engines is used.PowerBank 10000 mah, 5
accumulators 2700 MAH is used as a power source.
The orientation in space and positioning on the graph is
provided by three types of sensors: encoder, gyroscope and
LIDAR, the data of which is processed continuously, in real time.
A protocol for data exchange has been developed to establish
communication and exchange information between the manager
and the executing programs. Identification of the type received
through the data link is due to the corresponding numerical
codes.
III. DEVELOPMENT OF SOFTWARE SYSTEM MODEL
In the process of software development, Java was used, while
developing the interface used standard JavaSwing library.It
provides an easy implementation of the interface using the MVC
architecture.IntelliJ IDEA [14] and Arduino IDE are used as a
development environment.
The program is built according to the data split scheme (Fig.
2), the user interface and the control logic into three separate
Model-View-Controller (MVC) components. Below is a
description of the main classes shown in the diagram and split
according to the MVC pattern [15, 16].
Model: Execution starts with the Main class.Its main
function is to launch the user interface. The Robo class is used in
the robot management program. After the call, the method
delegates the execution of the COMport class to transfer the
corresponding command through the communication channel in
the executable program.After calling the method, it delegates the
implementation of COMport class to transfer the corresponding
command through the communication channel to executing the
program.
The COMport class is used to transmit data through the
communication channel. Passes commands that recognize the
executing program as numeric codes. Four types of commands:
• LIDAR data transfer code. After receipt, two numbers are
expected: angle, distance. The resulting data is
transmitted to the module for constructing a graph - the
class GraphCreator.
• Data transfer code from a gyroscope. After waiting, a
running angle is expected on which the wheeled platform
is reversed relative to the original direction. After
receiving the information, it updates the status of the data
in the Robo class.
MEMSTECH 2018, 18-22 April, 2018, Polyana-Svalyava (Zakarpattya), UKRAINE
• Transmission code of the distance traveled. After
receiving data the number, which means the distance
traveled in centimeters is expected. The status of the
Robo.distance variable is updated.
• Completion code for the operation.
After receiving the code for completing the operation, the
control module goes out of standby and passes the following
command (if any) to the executable program.
After receiving data from the LIDAR sensor, a graph is
constructed. The graph is used to find a way and to position the
wheelbase of the technical platform. After that, the task of
constructing a path on the graph is solvedand control commands
are formed to automatically move the platform to a given point.
View: Used to build the user interface. The interface contains
a field for typing text commands and a visual graph image that
corresponds to a two-dimensional map of space constructed
based on data obtained from the LIDAR sensor.
Controller: The key features of managing a mobile platform
with the help of a keyboard and mouse are realized.
Additionally, auxiliary classes were developed to display
graphical and textual information, to reset key parameters when
the system is freezing, logging of all operations, and tracking
flows in the program.
In fig. 3. The general scheme of work of the control and
executing program is presented. The user interacts with the
system through a graphical interface and a ribbon for entering
commands and settings.Management can be done in three ways:
using the arrows on the keyboard; using a graphical interface -
by installing points on the graph in which the wheeled platform
should move; through the console tape by entering the
appropriate commands.
In any control mode, the program switches to the last
command received from the user. By pointing the path on the
graph and entering the command "run" the program switches to
automatic mode, the control is transferred to the corresponding
module to find the path to the specified point. The control
program stops working automatically when all preset destination
points are reached or the user stops the automatic search.
All commands in the form of the corresponding codes are
sent to the executing program via the COM port,All commands
in the form of the corresponding codes are sent to the executing
program via the COM port. After that, the Robo class object gets
a label (inProgress), which is used by the program in automatic
mode and signals that the executing program is currently in run
mode. The label (inProgress) is removed after receiving a code
from the executing program about the completion of the
operation.
The software model of the robotic system, which makes it
possible to process data in real time, is elaborated. The
uniqueness of the developed software model is to use the theory
of graphs to find the optimal path of motion.
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Fig. 2. The general scheme of work with the data received from the MD
Fig. 3. General scheme of the system workAt the beginning of the program, the
start node of the graph is created (Fig. 4) with the coordinates N (X0, Y0). The
starting point is the vertex at which at the moment a robot is located. While
moving, it can change its position on the graph.
MEMSTECH 2018, 18-22 April, 2018, Polyana-Svalyava (Zakarpattya), UKRAINE
In the state of waiting for commands from the user, the
program on the microcontroller refers to the LIDAR class and
the MPU to read the interference data in the room and track the
angle of rotation. The data obtained from LIDAR and MPU are
sent to the control program through the communication channel
with the corresponding data code. In the control program, a
separate stream processes the information received through the
COM port and updates the program data state.
In automatic mode, the control program receives from the
mobile robot the distance traveled data, which is used to update
the position of the start node in the graph.
Fig. 4 Starting node graph at the beginning of the program
To construct the graph, the polar coordinates of the points
that the program receives from the robot through the
communication channel is used. Before use, the polar
coordinates turn into Cartesian coordinates of node N (X1, Y1).
Thus d is the distance obtained, μ is the angle obtained, X1 = d *
cos (μ), Y1 = d * sin (μ). If a negative distance is obtained then
there is no obstacle in the given radius of visibility, all nodes
through which the straight line from the node with coordinates N
(X0, Y0) to the node with the received coordinates N (X1, Y1)
is designated as free (through them can be laid path).
If the received distance is positive, all nodes, starting from
the start to the node with the received coordinates, are denoted as
free, and the node with the coordinates N (X1, Y1) is denoted as
occupied - laying the path through this vertex is impossible.
Figure 5 shows an example of constructing a graph with
coordinates of three points. After receiving Cartesian
coordinates, the distance is divided by the dimension of one node
graph. Direct is divided into the received number of segments.
When generating, the nodes, through which the straight line
passes from the starting node - N (X0, Y0), to the point with the
received coordinates - N (X1, Y1), are created. All created nodes
are added to the hash table. If the node of the graph through
which the straight line is already exists, the previously created
object is used. While creating a new node, all adjacent nodes are
identified and reported by coordinates to preserve the integrity of
the grid.
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Fig. 5. Construction of the graph on the coordinates of three points N (4,2), N (-
3,2), N (-2,3)
To save memory and computing resources of the processor,
the graph has a limited size. When you change the coordinates of
the start node N (X0, Y0) on the graph while in the automatic
mode, all nodes that go beyond the specified radius of visibility
are deleted. Objects that overlap with nodes in the "NO_WAY"
state are also deleted
During generation, a coherent graph (mesh) is formed. An
example of links between vertices of a graph is shown in Fig. 6.
All objects that lie on the line on the node with the resulting
coordinates are deleted.
Fig. 7. The next destination point is indicated on the picture
MEMSTECH 2018, 18-22 April, 2018, Polyana-Svalyava (Zakarpattya), UKRAINE
Fig. 6. Links between the nodes of the graph.
Using the theory of graphs in the software model allows you
analyze the obstacles that can appear on the path of the robot and
adjust the motion in real time.
IV. RESULTS OF THE SYSTEM WORK
The results of the system work are shown in fig. 7 and fig.
8.In particular, in fig. 7 the movement of the robotic system
(destination point) is indicated, and in fig. 8 - a screenshot of the
graphics window of the program is shown.The tests of the
developed system allow to state that the system works correctly.
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Fig. 8. Screenshot of the graphics window of the program.The function of displaying all vertices of the graph is enabled.The nodes that are behind the obstacles or
are not within the radius area of the scan are deleted
V. CONCLUSIONS
For orientation in space, in the process of a system
developing,the SLAM methodology using the graph for tracking
the running position in space is used. The software of the system,
based on the use of Java, the standard JavaSwing library and the
IntelliJ IDEA and Arduino IDE development environments has
been developed. In the form of a module that builds a graph
based on data obtained from a mobile robot via a communication
channel, software is developed. The program can work in three
modes: direct control, text command control, and an automatic
mode in whichin which the software installed on the computer
independently looks for a path on the graph and directs the robot
to move it to the user-specified point has been developed.
A graphical interface that visualizes a two-dimensional map
built on the basis of data from LIDAR and provides the ability to
monitor the operations performed by the robot in real-time.
The technical support based on the use of the Arduino DUE
microcontroller has been developed. The mobile platform is
equipped with sensors to ensure accurate positioning on a two-
dimensional map and track its movement in space.
The scientific novelty of the proposed development is to use
the theory of graphs in the developed software model for laying
and selecting the path of mobile robot movement. The use of
graphs made it possible to analyze the obstacles that may appear
on the path of the robot and adjust the motion in real time.
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