1. INDOOR & OUTDOOR
DISTANCE SENSING FOR
MOBILE ROBOT

2. INTRODUCTION
• Indoor Distance Sensing Mobile Robot

3. • Outdoor Distance Sensing Mobile Robot

4. OBJECTIVES
• Indoor distance sensing
– Develop microcontroller-based system for differential
driven mobile robot equipped with quadrature
encoder for distance sensing.
– To study, conduct experiments and produce document
on the indoor sensing.
• Outdoor distance sensing
– To interpret GPS data and produce document on GPS
navigation.
– Develop microcontroller-based system for driving
outdoor mobile robot and receive GPS data.

5. SCOPES
• Case study about both of the sensing device
• Programming the microcontroller
• Electrical and electronic development
LIMITATIONS
• Equalizing both of quadrature encoder sensor
• Understanding overall data from the GPS

6. Literature Review
• Quadrature Encoder
Features
•Operating voltage: 4.5 V to 5.5 V
•Two digital outputs (Output A and Output B)
•48 counts per revolution (linear resolution of just
under 3 mm or 1/8”)
Formula
24 ÷ 13.1964 = 1.8187 pulse – 1cm
Total pulse(s) = 1.8187D
24 – Total pulse per
rotation
13.1964 – Circumference
of the wheel
D – Total distance

7. RESEARCH METHODOLOGY

8. PROJECT DEVELOPMENT
• Indoor Distance Sensing Mobile Robot
Electrical/Electronic Development Process
Quadrature encoder, gear motor, motor shield and
microcontroller wiring process
Display output (LCD) wiring process
Software Development Process
• Outdoor Distance Sensing Mobile Robot
 Electrical/Electronic Development Process
GPS module, GPS shield and microcontroller wiring process
DC Motor, microcontroller and motor shield wiring process
 Software Development Process

9. QUADRATURE ENCODER, GEAR MOTOR, MOTOR SHIELD AND
MICROCONTROLLER WIRING PROCESS
*Click the picture to
play the animation

10. DISPLAY OUTPUT (LCD) WIRING PROCESS
*Click the picture to
play the animation

11. SOFTWARE DEVELOPMENT PROCESS
START
Input Signal at
pins by encoders
for 1set encoder
(High / Low)
Calculate pulses =
1.8 x distance
If both output
is High
Input
distance in
cm
NO
YES
If Pushbutton
1 / 2 / 3 press
YES
NO
Motor running
according to
quantity pulses
and stop
Display distance
and quantity of
pulses for both
encoder
END

12. GPS MODULE, GPS SHIELD AND MICROCONTROLLER
WIRING PROCESS
*Click the picture to
play the animation

13. DC MOTOR, MICROCONTROLLER & MOTOR SHIELD
WIRING PROCESS
*Click the picture to
play the animation

14. SOFTWARE DEVELOPMENT PROCESS
START
Check activation
of GPS receiver
Get data using
NMEA instruction
Display
Latitude and
Longitude at
LCD
END

15. TESTING & RESULT
• Hardware Testing Process
– Quadrature Encoder
– GPS Engine Board (GPS module)
• Software Testing Process
• Final Result
– Testing Result for Indoor Distance Sensing Mobile
Robot
– Final Result for Outdoor Distance Sensing Mobile
Robot

16. Testing on Quadrature Encoder
Number of rotation Pulse Distance (mm)
1 24 131.964
2 36 395.892
3 48 527.856
4 60 659.820
5 72 923.748

17. Testing on GPS Engine Board
(GPS Module)

18. Software Testing Process
Operation Block Diagram for Programming
Process

19. Testing Result for Indoor
Distance Sensing Mobile Robot
Distance
(mm)
Pulse(s) Error 1
(mm)
Error2
(mm)
Error3
(mm)
Error 4
(mm)
Error 5
(mm)
Average of Error
(mm)
40 73 9 8 9 10 7 8.6
80 146 12 12 12 12 11 11.8
120 219 14 13 13 14 15 13.8
160 291 16 13 16 15 15 15.0
200 364 24 23 23 16 17 20.6
240 437 26 23 24 23 25 24.2
280 510 36 34 35 33 35 34.6
320 582 36 34 36 36 34 35.2
360 655 38 38 37 39 38 38.0
400 728 45 44 45 39 39 42.4
Distance
(mm)
Pulse(s) Error 1
(mm)
Error2
(mm)
Error3
(mm)
Error 4
(mm)
Error 5
(mm)
Average of Error
(mm)
40 73 0 1 0 0 1 0.4
80 146 2 0 0 0 0 0.4
120 219 2 0 0 1 1 0.8
160 291 4 0 0 0 0 0.8
200 364 4 0 1 0 1 1.2
240 437 3 0 0 2 2 1.4
280 510 5 0 1 1 1 1.6
320 582 5 0 0 2 2 1.8
360 655 5 1 2 0 2 2.0
400 728 6 1 2 0 2 2.2
Ten differences distance record for Indoor Robot with full PWM
Ten differences distance record for Indoor Robot with half PWM

20. Testing Result for Outdoor
Distance Sensing Mobile Robot
Location Data GPS Module Google Maps Differences
1
(3/31 Road)
Latitude 2.93944 2.93942 0.00002
Longitude 101.7806 101.7803 0.00003
2
(Section 3 Petronas)
Latitude 2.93924 2.93923 0.00001
Longitude 101.7751 101.7755 0.00004
3
(Section 15 Ameerali)
Latitude 2.93293 2.93290 0.00003
Longitude 101.7689 101.7686 0.00003
4
(UKM)
Latitude 2.93020 2.93018 0.00002
Longitude 101.7771 101.7776 0.00005
5
(UniKEB)
Latitude 2.92687 2.92684 0.00003
Longitude 101.7735 101.7734 0.00001
6
(MFI)
Latitude 2.92815 2.92817 0.00002
Longitude 101.7583 101.7579 0.00004
7
(KPTM)
Latitude 2.93176 2.93176 0.00000
Longitude 101.7582 101.7580 0.00002
8
(Warta Mall)
Latitude 2.95283 2.95285 0.00002
Longitude 101.7571 101.7570 0.00001
9
(PKNS Mall)
Latitude 2.96202 2.96201 0.00001
Longitude 101.7570 101.7570 0.00000
10
(Section 1 Shell)
Latitude 2.94315 2.94320 0.00005
Longitude 101.7653 101.7650 0.00003
Ten differences location between GPS
Module and Google Maps

21. Testing Result for Outdoor
Distance Sensing Mobile Robot
Location Data GPS Module Google Maps Differences
Position 1 Latitude 2.93072 2.93075 0.00003
Longitude 101.7576 101.7578 0.00002
Position 2 Latitude 2.93065 2.93067 0.00002
Longitude 101.7576 101.7579 0.00003
Position 3 Latitude 2.93065 2.93069 0.00004
Longitude 101.7575 101.7577 0.00002
Position 4 Latitude 2.93075 2.93078 0.00003
Longitude 101.7577 101.7578 0.00001
GPS reading position location inside building
Four differences location in UniKL MFI building

22. Testing Result for Outdoor
Distance Sensing Mobile Robot
GPS reading position location outside building
Location Data GPS Module Google Maps Differences
Position 1 Latitude 2.93026 2.93027 0.00001
Longitude 101.7576 101.7579 0.00003
Position 2 Latitude 2.93027 2.93028 0.00001
Longitude 101.7576 101.7578 0.00002
Position 3 Latitude 2.93028 2.93029 0.00001
Longitude 101.7575 101.7576 0.00001
Position 4 Latitude 2.93023 2.93025 0.00002
Longitude 101.7574 101.7575 0.00001
Four differences location outside UniKL MFI building

23. CONCLUSION AND
RECOMMENDATION
• CONCLUSION
Achieve the objectives
Get knowledge about encoder operating systems
Get knowledge about GPS operating systems
• RECOMMENDATION
Deeper Research for quadrature encoder
Use additional hardware / features for more
efficiencies mobile robot.