Project Report on

Autonomous Indoor Robot Localization

utilizing multiple sensors in a smartphone

Team members:
Tanuj Kashyap(2015-2019)
Somnath Mondal(2015-2017)
Raju Sah(2015-2013)
Deepak Kumar(2015-2035)
Mithilesh Kumar(2015-2042)
Animesh Hazra(2015-2022)

Under the Guidance of:

Prof. Shantanu Mondal

Department of Electronics & Communication Engineering

University Institute of Technology,
The University of Burdwan
 1. INTRODUCTION

Localization is a fundamental problem that arises in many potential applications.

A fundamental prerequisite for successful robot navigations is to identify its exact
current location. The use of wireless technologies to perform localization have been a
trend in recent years. Most existing approaches use the received signal strength
indication (RSSI) to localize. Here we lay our focus on accomplishing the same using
Inertial Measurement sensors(Accelerometer & gyroscope) and magnetometer sensor.
We are utilizing multiple sensor datas, feeding into rigorous computational algorithms
like Extended Kalman Filter or Particle filter. But these computational models requires
high end processing which is available on much expensive hardwares.
Therefore we are implementing a smartphone as brain of the robot in which heavy
computations will take place while a tiny microcontroller processes the rudimentary
sensors and motor controls. Smartphone that can support extensive computing
environment have been easily available at affordable prices, offering v​arious kinds of
services. These devices have become an essential part of our daily lifestyle and are
usually carried throughout the day. Here we are utilizing the high end processing power
and multiple sensors of the smartphone, and this unit interacts with the controller over
bluetooth to exchange datas.

​2. ​REQUIREMENTS

Hardware
● Microcontroller (Arduino Nano/Stm32)
● Ultrasonic Module HC-​SR04​:
● Bluetooth Module HC-05:
● 12v Geared dc motor:
● Servo motors: MG995 & SG90
● 12v power supply:
● Android smartphone:

Software
● Arduino Integrated Development Environment:
● Android Studio or MIT App Inventor:
 3. ​ELEMENTS OF THE PROJECT

The Sensors:
The 3 dimension ​Accelerometer sensor​ gives the data for acceleration
along x, y and z axes. On integrating the data twice we can obtain an
approximate distance between two instances, i.e. two point. Thus here we
are utilizing this sensor for Dead reckoning. As this does give some drift
error so we will need to implement some error minimization techniques for
optimal results.

The ​Gyroscope sensor g ​ ives the data for rotation about x, y and z axes.
Here we basically need it for just one axis to measure the turning angles of
the robot.

The ​magnetometer ​or​ magnetic sensor​ can measure the direction,

strength, or relative change of magnetic field at a particular location. The
iron inside the building creates local variations in Earth’s magnetic field,
These variations are traced by the magnetometer and we will utilize the
data for further processing.

The smartphone ​camera​ will be used for live feed whenever needed. The
camera will also act as a feedback for location confirmation, thus reducing
some tedious computations with assumptions that could lead to fast battery
drainage.

The ​Ultrasonic sensors​ are used to avoid any obstacle on the way. Here
we have an ultrasonic sensor mounted over a mini servo motor (SG90),
which acts as a mini radar covering a range of 120 degrees. This reduces
the number of sensors needed and time of distance measurement.

The ​DC Geared motors ​with wheels are used for movement of the robot.
The ​L298 Motor driver​ circuit is used for controlling the motors. L298 is a
dual H-bridge ic, that enables us to drive 2 dc motors in both directions.

The Android Application:

We are developing an android application capable of utilizing all the
sensors of the smartphone, and send the data using bluetooth protocol to a
bluetooth module which is connected with the arduino on the robot.
Basic overview of the features of application:
● Access to data of accelerometer sensor, Gyroscope sensor,
magnetometer sensor, web access, bluetooth, microphone, speakers,
and camera.
● We will use the building floor plans to curb the divergence of position
error, this method is usually called map-matching. And we will apply
some computational algorithm like Extended Kalman filter or some
alternate algorithms like Particle filter for tracing the path followed by
the robot. After obtaining multiple paths between same nodes the
algorithm will be able to provide an optimal path for the robots
navigation.
● For achieving more precision in mapping we will use the camera of
the smartphone which will ultimately act as a feedback for the path
traced.
4. ​USE CASES
● This system can solve many security issue related to the surveillance,
this system can navigate through
● Such systems can be used as personal assistance robots for
caretaking of elderly people, timely serving of medicine, remotely
navigating through the house etc.
● The algorithm developed can be used for warehouse robots
containing desired hardwares.

5. ​References:
https://ieeexplore.ieee.org/document/6493553
https://en.wikipedia.org/wiki/Dead_reckoning
https://www.hindawi.com/journals/js/2016/1945695/