The Autonomous navigation Robot

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Aws Al-Nabulsi
Odai Abdallah
Ibrahim Wahbeh
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  The existence of a robot that is human friendly in shape and operation has been the main field of research and development for many companies and researchers who are in the field of robotics. Our goal is to design and implement such a robot that has the ability to interact with humans and human-like environment.   Many components will be combined to approach the suggested goal; a two wheel differentially steered system will be used to obtain the maximum degree of freedom in motion, a microcontroller with a suitable drive circuitry will be used to control and drive the motors attached to the wheels of the robot, an embedded system will act as the robots brain to collect data from the various sensors attached and give commands to microcontroller accordingly, a kinect sensor (RGB and IR camera) will collect images of the surrounding to be processed and be the vision system of the robot, a microphone will be used to record the voice of a speaker in order to implement speech recognition.   This report will discuss every aspect of the project, from hardware design to theoretical concepts relying behind the work and finally implementation.  This project presents the outcome of all the efforts that have been made in the previous months, an outcome of all the research, studies and tests that were carried out. The search has started for a project that would enable us to both contribute to the community and benefit ourselves through applying the knowledge gained in electronics, control systems, micro processors and controllers and programming languages as electrical engineers.The main idea of the project is to create an open source hardware and software robotic platform that can be easily adapted to do several tasks; such as delivery within a building, working on a production line in a factory, dealing with dangerous objects and be the starting point for future researches and improvements for other students.The power of this platform is in the robots ability to construct its own map of the building as shown in, localize itself on the map and freely navigate avoiding obstacles from one place to another as required, also its ability to take commands from the user in different ways like speech, gestures and direct programming for tasks that require routine makes it relatively simple to interact withMost differentially steered robots use encoders on the drive motors or wheels. An encoder registers a certain number of ticks (usually hundreds or even thousands) per revolution of the corresponding wheel. Knowing the diameter of the wheels and the distance between them, encoder ticks can be converted to the distance traveled in meters or the angle rotated in radians. To compute speed, these values are simply divided by the time interval between measurements.The motion data collected is known as odometry.