This document describes an autonomous robot project to inspect the flatness of surfaces. The objectives of the project were to create an autonomous robot capable of flatness inspection with wireless communication, plot real-time sensor data on a graphical user interface (GUI), and analyze the data through the GUI. The robot uses an inertial measurement unit (IMU) sensor combining a gyroscope and accelerometer to detect slope changes in two axes. The IMU data is processed by a PIC18F4550 microcontroller and plotted on a GUI for visualization and analysis of the flatness condition. An infrared sensor acts as obstacle avoidance. The objectives were achieved through the successful design, construction, and programming of the hardware and embedded system.

1. Department of Electronics &
Computer Eng. Technology
Faculty of Engineering Technology
Autonomous Robot for Flatness
Inspection
Student: Jamil bin Ab Hamid ( jamil.hamid25@yahoo.com.my )
Supervisor: Shahrizal bin Saat ( shahrizal@utem.edu.my)
Co-Supervisor: Farees Ezwan bin Mohd Sani (farees@utem.edu.my)
This project is developed to inspect flatness condition of surface with a capability to
visualize the condition. The main objective of the project is to create an
autonomous robot with a wireless communication capability to perform a task for
flatness inspection and visualize the flatness condition by using a LabVIEW
software. There will be a powerful IMU sensor which is combination of Gyro and
Accelerometer to detect change of slope in X-Axis and Y-Axis. The PIC18F4550
microcontroller interfaced with the robot and it act as the brain to process a useful
input from the IMU sensor. The program is written by using CCS Compiler. At front
of the robot, there is an Infrared sensor which is used to sense any obstacle and
act as obstacle avoidance..
 To create an
autonomous robot for
flatness inspection.
 Plot the real time chart
for observation
purpose.
 Analyze the data
through GUI.
This autonomous robot used IMU sensor to detect the
flatness of a surface while travelling in an area or spot and
the data from IMU sensor will be plot in a real-time graph to
Graphical user interface. All of the objectives are achieved
successfully in this project. Hardware for the autonomous
robot is designed and constructed. Embedded system
using PIC18F4550 are used and programmed to act as a
main controller unit of the autonomous robot
[1] Muhammad Burhanuddin, 2012, , IMU Filter using
feedback sensor for localization Mobile Robot
[2] Calvin Chan Lit Yong,2010,Two Wheeled Self Balancing
Robot
[3] Mohd Zhafri bin Baharudin,2010, Gaze Driving
[4] C. kerl, J. Sturm, D.Cremers,2013, Robust Odometry
Estimation for RGB-D Cameras
[5] Ng Xiao Qin, 2011, Gyroscope-Based Navigation for
mobile robot.
Firstly, IMU will deliver a raw data to the PIC and then the raw
data will displayed through serial communication. From the raw
data a mathematical formulation is been applied to convert the
raw data to required value. The data will be plotted to the
Graphical user interface (GUI) as a real time chart.