ABSTRACT

1
ABSTRACT
The paper deals with the wireless sensor-based remote control of mobile robots
motion in an unknown environment with obstacles using the Bluetooth wireless
transmission and Sun SPOT technology. The Sun SPOT is designed to be a
flexible development platform, capable of hosting widely differing application
modules. Web technologies are changing the education in robotics. A feature of
remote control laboratories is that users can interact with real mobile robot
motion processes through the Internet. Motion control of mobile robots is very
important research field today, because mobile robots are a interesting subject
both in scientific research and practical applications. In this paper the object of
the remote control is the Boe-Bot mobile robot from Parallax. This Boe-Bot
mobile robot is the simplest, low-cost platform and the most suitable for the
small-sized, light, battery-driven autonomous vehicle. The vehicle has two
driving wheels and the angular velocities of the two wheels are independently
controlled. When the vehicle is moving towards the target in an unknown
environment with obstacles, an avoiding strategy is necessary. A remote control
program has been implemented.

2
 CHAPTER-1

INTRODUCTION

3
CHAPTER-1

1.1 INTRODUCTION

Only one fourth (nearly 27%) is the total land mass on the planet earth rest
beingwater (nearly 73%). Out of this land mass, only three fourth is productive
rest beinghigh mountains, cold and hot deserts, etc. Over the year’s mankind
has been ableto convert nearly 57% of productive land for cultivation of various
crops for food, oftenon expense of forest and grasslands (43%). With rising
urbanization, a worldwide phenomenon, it has been estimated that most of the
world’s population (>60%) by 2030will shift to cities for urban dwelling.
Interestingly in the same period (by 2030), the humanpopulation is expected to
reach 8.6 billion from the current 7.6 billion, and expectedto rise further
exponentially to 9.8 billion by 2050 and explode to 11.2 billion by 2100.The
rapid urbanization on the other hand is putting pressure on the meagre
availableland resources that is witnessing gradual but continuous decline in the
cultivated landworldwide (Ali and Srivastava, 2017).

Urbanization has resulted in innumerable small andlarge concrete

structures mostly to accommodate the ever-rising population at the expenseof
farm land. The sky-line in major metros is now dotted with high rise structures
but onehardly sees the peri-urban agriculture growing vegetables and other
food. The populationof cities would obviously keep on multiplying and put
pressure on food production wherein several crops it has already plateaued. In
many regions, the cultivable land has almostexhausted and there is hardly any
scope for further adding the area to the crop cultivation.In India too, the
cultivable area is almost constant for last several years. Whatever land areais
reclaimed, almost same productive area goes to construction and other
infrastructuredevelopment.

4
 Cultivable land has become a limiting factor and land prices are
skyrocketingin recent years. The transportation of food to cities from rural
production sites will addto the problem, compounded further in perishable and
semi-perishable food especiallyfrom horticultural crops having shorter shelf
life. One innovation that has potential to partlymanage the above problem is by
production of food items in cities itself in residentialbuildings, roof tops, public
spaces, etc. Whereas the present improved agriculture practicesput immense
pressure on finite resources with diminishing returns on land, water, energy,etc.,
the innovative technology of vertical farming is expected to relieve this pressure
to alarge extent.

5
 CHAPTER-2

BLOCK DIAGRAM

6
CHAPTER-2

BLOCK DIAGRAM

POWER UNIT

IR SENSOR
MCU
IR SENSOR
DRIVE

ULTRASONIC
SENSOR MOTOR

LCD DISPLAY

7
 CHAPTER-3

EMBEDDED SYSTEM

8
CHAPTER-3

3.3 EMBEDDED SYSTEM

An embedded system is a combination of computer hardware, software

and additional mechanical parts, designed to perform a specific function .An
embedded system is designed to do a specific task within a given time frame,
repeatedly, without human interaction. Embedded system do not need a
complete operating system, but only the basic functionalities of an operating
system in a real-time environment, that is, a real time operating system.
(RTOS). Frequently, embedded system does not have a user interface.

Application Area of embedded system include aerospace/defense

systems, telecommunication equipments and switches, mobile computing,
broadcast, automotives, industrial process control and monitoring, medical
electronics, consumer electronics, etc. Main hardware components of an
embedded system are microprocessor or micro controller, and supporting ICs.
The combination of micro-controller and ICs are application specific.
Commonly used microprocessors include the following. Motorola 680XX
series, IBM PowerPC series processors, MIPS processors, Intel 386 and
compatible CPUs, ARM processors, Sun SPARC series, etc. Embedded systems
need memory for storing programs and data, and usually programs are stored in
ROM or EPROM. Often these systems have a serial port network interface, I/O
interface for interacting with sensors and actuators in the case of process
controlling systems.

9
3.4 MICROPROCESSOR Vs MICROCONTROLLER

Microcontroller is a general-purpose device which has an in-built CPU,

Memory and peripherals, which make it, function as a mini computer.

Both Microcontroller and microprocessor can be employed for designing

products or applications in Embedded System. But Microcontroller has its own
advantages over microprocessor. They are as follows:

 For transfer of data from external memory to the CPU, microprocessor needs
many operational codes. But in Microcontroller, one or two codes are
enough.

 Microcontrollers have many bit-handling instructions, but microprocessors

have only one or two.

 Microcontrollers have built-in peripherals whereas microprocessors lack in-

built peripherals.

 Microcontroller work faster than microprocessor because of rapid movement

of bits within the chip.

 Microcontrollers have simple circuit structure compared to microprocessor.

 Microcontrollers have only 35 instructions whereas microprocessors have

75.

 Microcontrollers are costly when compared with microprocessor.

 Microcontroller can function as a mini computer without any additional

parts.

 Microcontroller instructions are simple, single word instructions.

10
 CHAPTER-4

LITERATURE REVIEW

11
CHAPTER-4
REVIEW OF LITERATURE
A Bluetooth-enabled mechanical car is proposed, and it then delivers a
point-by-point comparison of various sensors used in autonomous driving. In
addition to a Bluetooth module, a mechanical knock sensor is attached to the
car's facade to detect if the vehicle has been hit and, if so, the exact time of the
collision.
Following a black line path while incorporating other characteristics such
as collision detection and avoidance or the capacity to fall from a particular
height with great stability and control is the goal of this research. A central
Arduino UNO microcontroller interfaces with IR sensors, Bluetooth, and Wi-Fi
components in the design. Connected to the used end through long-range Wi-Fi,
a user can adjust a robot car's direction by altering its position.
Consequences including local trap situations, erratic and oscillating
movements, or the inability to drive towards locations with a high obstacle
density or far from their intended direction were identified by Minguez and
Montano (2004).
These characteristics become increasingly important in the creation of
robust apps that can be used in any setting, regardless of how challenging the
terrain is. As a result, the usage of reactive navigation systems in real-world
applications is limited. In this study, various sensors are used to construct a
mine detection robot. An ultrasonic sensor, gas sensor, temperature sensor, and
humidity sensor are all employed in the detecting process. The device is
designed to aid the military in areas where detection of mines is very likely. In
addition, when a mine is detected, an alert is delivered to a smartphone via IOT
and a camera is attached to the intended car for video surveillance. Thus, the
robot saves the lives of soldiers on the front lines by substituting for them
wherever possible.

12
 OBJECTIVES
 Define sensor based mobile robots.
 To explain the evolution from automated guided vehicles to
autonomous mobile robots.
 Identify the technological advances affecting the planning and
control decisions.
 To provide guidance and methods to plan and control autonomous
mobile robots.
 To Study different types of robot sense
 To overview of SPOT
RESEARCH METHODOLOGY
There are several reports that are reviewed and analyzed in this study
regarding the issues. The journals were sourced from online databases, with a
particular focus on journals. On the subject of identification, the attention was
on the study's material, participants, and learning methods. Classification
accuracy and items, methods, and results were the primary criteria for
identifying research publications. This data was then used to compile an
exhaustive overview of previous studies and research on the subject matter.

13
 CHAPTER-5
HARDWARE REQUIREMENT

14
 CHAPTER-5

5.HARDWARE REQUIREMENT

5.1POWER SUPPLY DESCRIPTIONS

The present chapter introduces the operation of power supply circuits built
using filters, rectifiers, and then voltage regulators. Starting with an ac voltage, a
steady dc voltage is obtained by rectifying the ac voltage, then filtering to a dc
level, and finally, regulating to obtain a desired fixed dc voltage. The regulation is
usually obtained from an IC voltage regulator unit, which takes a dc voltage and
provides a somewhat lower dc voltage, which remains the same even if the input
dc voltage varies, or the output load connected to the dc voltage changes.

A block diagram containing the parts of a typical power supply and the
voltage at various points in the unit is shown in fig 19.1. The ac voltage, typically
120 V rms, is connected to a transformer, which steps that ac voltage down to the
level for the desired dc output. A diode rectifier then provides a full-wave rectified
voltage that is initially filtered by a simple capacitor filter to produce a dc voltage.
This resulting dc voltage usually has some ripple or ac voltage variation. A
regulator circuit can use this dc input to provide a dc voltage that not only has
much less ripple voltage but also remains the same dc value even if the input dc
voltage varies somewhat, or the load connected to the output dc voltage changes.
This voltage regulation is usually obtained using one of a number of popular
voltage regulator IC units.

Transformer Rectifier Filter IC regulator Load

15
 5.2 IC VOLTAGE REGULATORS:

Voltage regulators comprise a class of widely used ICs. Regulator IC units

contain the circuitry for reference source, comparator amplifier, control device,
and overload protection all in a single IC. Although the internal construction of
the IC is somewhat different from that described for discrete voltage regulator
circuits, the external operation is much the same. IC units provide regulation of
either a fixed positive voltage, a fixed negative voltage, or an adjustably set
voltage.A power supply can be built using a transformer connected to the ac
supply line to step the ac voltage to a desired amplitude, then rectifying that
ac voltage, filtering with a capacitor and RC filter, if desired, and finally
regulating the dc voltage using an IC regulator.

5.3 THREE-TERMINAL VOLTAGE REGULATORS:

Fig shows the basic connection of a three-terminal voltage regulator IC to

a load. The fixed voltage regulator has an unregulated dc input voltage, Vi,
applied to one input terminal, a regulated output dc voltage, Vo, from a second
terminal, with the third terminal connected to ground. For a selected regulator,
IC device specifications list a voltage range over which the input voltage can
vary to maintain a regulated output voltage over a range of load current. The
specifications also list the amount of output voltage change resulting from a
change in load current (load regulation) or in input voltage (line regulation).

Fixed Positive Voltage Regulators:

IN OUT

UNREGULATE 7805
D DC
VOLTAGE

GND

16
 The series 78 regulators provide fixed regulated voltages from 5 to 24 V.
Figure 19.26 shows how one such IC, a 7812, is connected to provide voltage
regulation with output from this unit of +12V dc. An unregulated input voltage
Vi is filtered by capacitor C1 and connected to the IC’s IN terminal. The IC’s
OUT terminal provides a regulated + 12V which is filtered by capacitor C2
(mostly for any high-frequency noise). The third IC terminal is connected to
ground (GND). While the input voltage may vary over some permissible
voltage range, and the output load may vary over some acceptable range, the
output voltage remains constant within specified voltage variation limits. These
limitations are spelled out in the manufacturer’s specification sheets. A table of
positive voltage regulated ICs is provided in table

Positive Voltage Regulators in 7800 series

IC Output Voltage Minimum Vi (V)

Part (V)
7805 +5 7.3
7806 +6 8.3
+8 10.5
7808
+10 12.5
7810
+12 14.6
7812
+15 17.7
7815
+18 21.0
7818

17
5.4 LCD DISPLAY

The most commonly used Character based LCDs are based on Hitachi's
HD44780 controller or other which are compatible with HD44580. In this
project document, we will discuss about character based LCDs, their interfacing
with various microcontrollers, various interfaces (8-bit/4-bit), programming,
special stuff and tricks you can do with these simple looking LCDs which can
give a new look to your application.

Usually these days single controller LCD modules are used more in the
market. So in the project document we will discuss more about the single
controller LCD, the operation and everything else is same for the double
controller too.

18
5.5 MICROCONTROLLERS

The ATMEGA-328 is a modified Harvard architecture 8-bit RISC

single chip microcontroller which was developed by Atmel. It uses on-chip
flash memory for program storage, as opposed to one-time
programmable ROM, EPROM, or EEPROM used by other
microcontrollers at the time.

FEATURES:

32KB of flash memory for program storage.

2KB of SRAM for data storage.

1KB of EEPROM for non-volatile data storage.

23 general-purpose I/O pins.

6 channels of 10-bit Analog-to-Digital Converter (ADC).

Several communication interfaces including UART, SPI, and I2C.

Internal oscillator and the ability to use an external crystal for clocking.

DEVELOPMENT TOOLS:

To program the ATmega328P, you'll typically use an in-circuit serial

programmer (ICSP) or a bootloader.Popular development environments for
programming the ATmega328P include Atmel Studio, Arduino IDE, and
various third-party IDEs that support AVR microcontrollers.

You can use various hardware platforms for programming and development,
such as the Arduino Uno, Arduino Nano, or custom-made development boards.

19
PROGRAMMING:

Write your code in C/C++ or assembly language using the chosen development
environment.

Compile the code into a hex file.

Program the ATmega328P using an ICSP programmer or upload the hex file
using a bootloader and a USB-to-serial adapter.

You can also program the ATmega328P using the Arduino IDE by selecting the
appropriate board (e.g., Arduino Uno) and uploading your sketch via USB.

PERIPHERAL INTERFACING:

Utilize the GPIO pins for interfacing with external components such as sensors,
actuators, displays, and communication modules.

Configure the ADC to read analog sensor values.

Implement serial communication protocols (UART, SPI, I2C) to communicate

with other devices.

POWER MANAGEMENT:

The ATmega328P can operate at voltages ranging from 1.8V to 5.5V,

making it suitable for battery-powered applications.Utilize sleep modes and
low-power techniques to minimize power consumption and prolong battery life.

APPLICATION EXAMPLES:

Embedded systems: IoT devices, home automation, data loggers, etc.

Robotics: Motor control, sensor interfacing, etc.

DIY projects: LED displays, temperature sensors, motion detectors, etc.

RESOURCES:

The datasheet for the ATmega328P provides detailed information on its

features, electrical characteristics, and programming.

Online communities and forums, such as the Arduino forums and AVR Freaks,
offer support, tutorials, and code examples for working with the ATmega328P.

20
Overall, the ATmega328P is a versatile microcontroller suitable for a wide
range of embedded applications, from simple hobby projects to more complex
commercial products. Its popularity in the maker community is largely due to its
ease of use, extensive documentation, and robust ecosystem of development
tools and resources.

5.6 L293D

The L293D is an integrated circuit commonly utilized for motor control

applications, particularly in robotics and other projects involving DC motors.
Functioning as a quadruple high-current half-H driver, it facilitates bidirectional
control of up to two DC motors. Employing an H-bridge configuration, it allows
motors to operate in both clockwise and counterclockwise directions by
manipulating the polarity of applied voltage. With a peak current handling
capacity of up to 600mA per channel (1.2A peak), it suits a broad spectrum of
low to medium-power motors. Featuring built-in clamp diodes for inductive
load protection, it mitigates voltage spikes during motor deactivation. Its control
inputs accept low-level signals (TTL or CMOS), enabling precise manipulation
of motor direction and speed. Operating within a voltage range of 4.5V to 36V,
it accommodates various power sources, including batteries and power supplies.
Available in different package types like DIP and SOIC, it offers versatility and
ease of integration into diverse circuit designs, making it a favored choice for
motor control solutions.

21
5.7 DC MOTOR

DC Motor – 30RPM – 12Volts geared motors are generally a simple DC

motor with a gearbox attached to it. This can be used in all-terrain robots and
variety of robotic applications. These motors have a 3 mm threaded drill hole in
the middle of the shaft thus making it simple to connect it to the wheels or any
other mechanical assembly.
30 RPM 12V DC geared motors widely used for robotics applications.
Very easy to use and available in standard size. Also, you don’t have to spend a
lot of money to control motors with an Arduino or compatible board. The most
popular L293D H-bridge module with onboard voltage regulator motor driver
can be used with this motor that has a voltage of between 5 and 35V DC or you
can choose the most precise motor diver module from the wide range available
in our Motor divers’ category as per your specific requirements.
Nut and threads on the shaft to easily connect and internally threaded
shaft for easily connecting it to the wheel. DC Geared motors with robust metal
gearbox for heavy-duty applications, available in the wide RPM range and
ideally suited for robotics and industrial applications. Very easy to use and
available in standard size. Nut and threads on the shaft to easily connect and
internally threaded shaft for easily connecting it to the wheel.

22
5.8 IR SENSOR

An infrared (IR) sensor is a device that detects infrared radiation in its

surrounding environment. Infrared radiation is a type of electromagnetic
radiation with wavelengths longer than those of visible light, but shorter than
those of microwaves. IR sensors are commonly used for various applications,
including proximity sensing, motion detection, temperature measurement, and
object detection.
Here's a brief explanation of how IR sensors work:
Infrared Radiation: All objects with a temperature above absolute zero emit
infrared radiation. The intensity and characteristics of this radiation depend on
the temperature and surface properties of the object.
Sensor Components: An IR sensor typically consists of an IR emitter and an
IR receiver. The emitter emits infrared radiation, while the receiver detects it. In
some cases, the emitter and receiver may be integrated into a single component.
Detection Principle: When the emitted IR radiation encounters an object in its
path, some of the radiation is reflected or absorbed by the object. The receiver
detects the changes in the intensity or wavelength of the IR radiation caused by
these interactions with objects.
Detection Methods:
Reflection: In proximity sensors or object detection applications, the receiver
detects the IR radiation reflected back from nearby objects.

23
Break Beam: In motion detection systems, the receiver detects interruptions in
a continuous beam of IR radiation emitted by the emitter.
Thermal Sensing: In temperature measurement applications, the receiver
detects the thermal radiation emitted by objects, which correlates with their
temperature.
Output Signal: The output signal of an IR sensor varies depending on the
specific application and design. It could be a simple binary signal indicating the
presence or absence of an object, an analog voltage or current proportional to
the detected IR radiation intensity, or a digital signal indicating temperature or
distance measurements.
Applications: IR sensors find applications in various fields, including:
Proximity sensors for detecting the presence of objects.
Motion detectors for security systems and automatic lighting.
Temperature measurement in industrial processes and medical devices.
Remote controls for consumer electronics.
Object detection and tracking in robotics and automation.
Overall, IR sensors play a crucial role in enabling various technologies by
providing a means to detect, measure, and interact with objects based on their
thermal characteristics and interactions with infrared radiation.
5.9 RELAY

The first step involves selecting the appropriate relay based on factors
such as voltage and current ratings, switching speed, and the type of load to be
controlled, whether it's AC or DC. Once the relay is chosen, it needs to be wired
to the microcontroller and the device you want to control. This typically

24
involves connecting the relay coil to a digital output pin of the microcontroller
and wiring the relay's switch contacts to the load.

In programming, you'll use digital output commands to control the relay.

By setting the appropriate digital pin as an output and toggling its state, you can
activate or deactivate the relay as needed. Additionally, you may implement
conditional logic to control the relay based on specific conditions or user input,
adding flexibility and functionality to your project.

5.10 ULTRASONIC SENSOR

The ultrasonic sensor is a device you can use with the microcontroller to
measure how far away an object is. With a range of 3 centimeters to 3.3 meters,
it's a shoe-in for any number of Robots and automation projects. It's also
remarkably accurate, easily detecting an object's distance down to the half
centimeter.

5.10.1 HOW DOES THE SENSOR WORK?

Figure shows how the sensor sends a brief chirp with its ultrasonic
speaker and makes it possible for the microcontroller to measure the time it
takes the echo to return to its ultrasonic microphone. The microcontroller starts
by sending the ultrasonic sensor a pulse to start the measurement. Then, the
ultrasonic sensor waits long enough for the embedded c program to start logic
1command. At the same time the ultrasonic sensor chirps its 40 kHz tone, it
sends a high signal to the microcontroller. When the ultrasonic sensor detects
the echo with its ultrasonic microphone, it changes that high signal back to low.
25
The embedded c logic high command stores how long the high signal from the
sensor lasted in a variable. The time measurement is how long it took sound to
travel to the object and back. With this measurement, you can then use the
speed of sound in air to make your program calculate the object's distance in
centimeters, inches, feet, etc...

The sensor's chirps are not audible because 40 kHz is ultrasonic. What we
consider sound is our inner ear's ability to detect the variations in air pressure
caused by vibration. The rate of these variations determines the pitch of the
tone. Higher frequency tones result in higher pitch sounds and lower frequency
tones result in lower pitch tones. Most people can hear tones that range from 20
Hz, which is very low pitch, to 20 kHz, which is very high pitch. Subsonic is
sound with frequencies below 20 Hz, and ultrasonic is sound with frequencies
above 20 kHz. Since the sensor's chirps are at 40 kHz, they are definitely
ultrasonic, and not audible.

26
 CHAPTER-6
PROGRAMMING

CHAPTER-6

27
6.PROGRAMMING

The Arduino Uno can be programmed with the (Arduino Software

(IDE)).The ATmega328 on the Arduino Uno comes preprogrammed with a
bootloader that allows you to upload new code to it without the use of an
external hardware programmer. It communicates using the original STK500
protocol.

6.2 POWER

The Arduino Uno board can be powered via the USB connection or with
an external power supply. The power source is selected automatically.

External (non-USB) power can come either from an AC-to-DC adapter

(wall-wart) or battery. The adapter can be connected by plugging a 2.1mm
center-positive plug into the board's power jack. Leads from a battery can be
inserted in the GND and Vin pin headers of the POWER connector.

Arduino Power Supply

6.3 MEMORY

The ATmega328 has 32 KB (with 0.5 KB occupied by the bootloader). It also

has 2 KB of SRAM and 1 KB of EEPROM

6.4 ARDUINO DEVELOPMENT "IDE"

28
 The Arduino integrated development environment (IDE) is a cross-
platform application written in Java, and is derived from the IDE for the
Processing programming language and the Wiring projects. It is designed to
introduce programming to artists and other newcomers unfamiliar with software
development. It includes a code editor with features such as syntax highlighting,
brace matching, and automatic indentation, and is also capable of compiling and
uploading programs to the board with a single click. There is typically no need
to edit make files or run programs on a command-line interface

Developer(s) Arduino Software

Stable release 1.0.3 / December 10, 2012; 3months ago

Written in Java, C and C++

Operating system Cross-platform

Type Integrated development environment

Website arduino.cc

29
 Arduino programs are written in C or C++ The Arduino IDE comes with
a software library called "Wiring" from the original Wiring project, which
makes many common input/outputs.

Operations much easier. Users only need define two functions.

To make a run able cyclic executive program:

 Setup (): a function run once at the start of a program that can initialize
settings.

 Loop (): a function called repeatedly until the board powers off

30
CHAPTER-7

CONCLUSION

31
CHAPTER-7
CONCLUSION
The paper deals with the wireless sensor-based remote control of mobile
robots’ motion in an unknown environment with obstacles using the Bluetooth
wireless transmission and Sun SPOT technology. Web technologies are
changing the education in robotics. A feature of remote-control laboratories is
that users can interact with real mobile robot motion processes through the
Internet. In this paper the object of the remote control is the Boe- Bot mobile
robot from Parallax. The vehicle has two driving wheels and the angular
velocities of the two wheels are independently controlled. When the vehicle is
moving towards the target and the sensors detect an obstacle, an avoiding
strategy is necessary. A remote control program has been implemented. The
Sun SPOT is designed to be a flexible development platform, capable of hosting
widely differing application modules. We used the SunSPOT base station to
read a file from the controlling computer and send its contents to the second free
range SPOT. The second SunSPOT when receiving the data in turn opens up its
outputs depending on what it received. These outputs control the speed of the
wheels individually. The Hardware basically centers around Sun SPOTs and
DC Motors controlled by Basic Stamp. The Sun SPOT base station will send
data to Sun SPOT on mobile robot which will drive the Basic Stamp controller
to DC IO pins. The microcontroller will drive the Motors which will run the
Boe-Bot mobile robot.

32
7.2 FUTURE WORK
Using this system as framework, the system can be expanded to include
various other options which could include mobile application control of motor
and Wi-Fi controlled monitoring. These will expand the working capability and
efficiency of this prototype. It can be implemented not in agriculture but in
gardens in any places using the sprinkler concept. It has a vast scope when it is
mixed with IOT. Automation will get a new dimension through this.

33
CHAPTER-8
REFERENCES

34
CHAPTER-8
REFERENCES
REFERENCES

[1] Matijevics István, Simon János, „ Comparison of various wireless sensor

networks and their implementation”, Proceedings of the Conference SIP 2009,
pp 1-3, Pécs, Hungary, 2009
[2] Fabio Carusi, Marco Casini, Domenico Prattichizzo, Antonio Vicino.
"Distance Learning in Robotics and Automation by Remote Control of Lego
Mobile Robots", Proceedings of the 2004 IEEE, International Conference on
Robotics & Automation New Orleans, LA, pp. 1820-1825, USA, 2004.
[3] Gyula Mester, „Distance Learning in Robotics”, Proceedings of the Third
International Conference on Informatics, Educational Technology and New
Media in Education, pp. 249-245, Sombor, SCG, 2006.
[4] W.L. Xu, S.K. Tso, Y.H. Fung, “Fuzzy reactive control of a mobile robot
incorporating a real/virtual target switching strategy”, Robotics and
Autonomous Systems, Vol. 23, pp. 171- 186, 1998.
[5] Ranajit Chatterjee, Fumitoshi Matsuno, “Use of single side reflex for
autonomous navigation of mobile robots in unknown environments”, Robotics
and Autonomous Systems, Vol. 35, pp. 77–96, 2001.
[6] Dragan Saletic, Uros Popovic, “Fuzzy expert system for automatic
movement control of a platform on a ground with obstacles”, Proceedings of the
YuINFO 2006, pp. 1-6, Kopaonik, Serbia and Montenegro.
[7] Jian Wanga, Xiangyang Zhub, Masahiro Oyac, Chun-Yi Sud, “Robust
motion tracking control of partially nonholonomic mechanical systems”,
Robotics and Autonomous Systems, Vol. 35, pp. 332–341, 2006.
[8] Gyula Mester, “Improving the Mobile Robot Control in Unknown
Environments”, Proceedings of the YuINFO 2007, pp. 1-4, Kopaonik, Serbia,
2007.
35
[9] Gyula Mester, “Intelligent Mobile Robot Control in Unknown
Environments”, Intelligent Engineering Systems and Computational
Cybernetics, Springer, pp. 15-26, 2009.
[10] Gyula Mester, “Modeling the Control Strategies of Wheeled Mobile
Robots”, Proceedings of the Kandó Konferencia 2006, pp. 1-4, Budapest,
Hungary, 2006.
[11] Gyula Mester, „Intelligent Mobile Robot Controller Design”, Proceedings
of the Intelligent Engineering Systems, INES 2006, pp. 282-286, London,
United Kingdom, 2006.
[12] Sun™ Small Programmable Object Technology (Sun SPOT) Owner’s
Manual Release 3.0, Sun Microsystems, Inc. 2007
[13] Bojan Kuljic, János Simon, Tibor Szakáll, “Pathfinding Based on Edge
Detection and Infrared Distance Measuring Sensor”, Acta Polytechnica
Hungarica, Journal of Applied Sciences, Volume 6, Issue Number 1, pp. 103-
116, Budapest Tech, 2009

36