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Report Biomedical and Robotics Engineering (EMS516U)
- Institution
- Queen Mary, University Of London (QMUL)
Report for Biomedical and Robotics Engineering (EMS516U) - Introduction to Robotics Module
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AbstractThe aim of the laboratory was to familiarise with the functioning of a mobile robot using the
OSOYOO V2.1 robot car in order to learn how to navigate programs for the robot. The OSOYOO V2.1
robot car was constructed using an Arduino, which is made up of a microcontroller and an Integrated
Development Environment (IDE), motors, sensors and multiple other electrical components.
Furthermore, investigating the robot’s performance in its environment through various tests such as
wall following, line following and obstacle avoidance. These observations were then noted to
evaluate what type of simple bug algorithms (bug 1 and bug 2) the OSOYOO V2.1 robot possesses.
Introduction
The ability of robots to move and function independently (to varying degrees) opens up a wide range
of research and application opportunities, from industrial automation to educational environments.
The term "locomotion" refers to the robot's capacity to travel between locations through motion
planning techniques [1]. Navigation across congested areas and along predetermined courses is
made possible by the combination of an Arduino microcontroller, proximity sensors, and extra
modules with linear translation and rotation via track steering. Building on the fundamental
knowledge, this research investigates the design and navigation programming environment of the
OSOYOO V2.1 Robot Car to develop computational thinking abilities and mastery of fundamental
robot operation. The purpose of this inquiry into the robot's performance is to evaluate its
effectiveness and precision in carrying out tasks related to obstacle avoidance, wall following and
goal following.
An Arduino is open-source electronics, flexible platform that consists of both hardware and software
components. It is made up of a microcontroller and an Integrated Development Environment (IDE)
[2]. A microcontroller is used to control functions of embedded systems. This done by evaluating
data it receives from input/output peripherals using its central processor. Once it receives the
temporary data, it stores it in its data memory. The processor then accesses this memory, reads the
information, and applies the instructions from its programme memory to interpret and utilise the
incoming data. It then communicates and takes the necessary action using its input /output
peripherals [3]. The IDE is used for writing and uploading computer codes to the physical board
connected to the robot [2].
The Arduino boards may receive inputs, such as light, proximity or air quality data from a sensor and
convert them into outputs, such as turning on a light, motor, or triggering outside events. Using the
Arduino software (IDE), based on processing, and the Arduino programming language (based on
wiring), code can be written to the board and can be uploaded to the microcontroller to instruct it
what to do [2].
These movements and or goals the robot will be performing all stems from bug algorithms. Such
algorithms are sensor based using either a contact or finite range sensor to determine when it is
touching and or approaching an obstacle, using data from the motion sensors in estimating change in
position over time and knowing it’s current position in the plane [4]. Certain assumptions can be
made about the robot and its environment:
1. Robot is modelled as a point.
2. It is a bounded environment.
3. Robot can measure the distance between two points.
, 4. Robot’s position is perfectly known.
The algorithm makes use of two different behaviours, motion to goal and boundary following.
There are a few types of bug algorithms, however in this report the focus is directed towards simple
bug algorithms. The two types are:
Bug 1 – When an obstacle is encountered, it tracks its perimeter and records the point at which it is
closest to the goal. The robot then goes back to that location and advances towards the goal [4].
Bug 2 – When it comes across an obstacle, it turns around the obstacle until it can no longer see
anything in front of it, at which point it resumes its path in the direction of the goal [4].
Procedure
The procedure consisted of two main types of installation:
1. Hardware installation
2. Software Installation
The OSOYOO V2.1 Robot car underwent its basic robot car assembly procedure which was followed
according to the YouTube video uploaded/ instructions available on the OSOYOO website, as can be
seen in Figure 1.
Figure 1 - Showing ideal model of OSOYOO V2.1 Robot Car assembly [5]
Object Movement
Progression was then made for the robot car to follow object movements. This was done by
installing two infrared (IR) sensors to the lower chassis of the robot car, followed up by a software
installation where the using the Open-source Arduino Software where a download was made from
the OSOYOO website of the code. The code (Figure 2) was then loaded onto the OSOYOO basic board
of the robot car and was then tested.
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