Development of an autonomous robot for inspection system

摘要

Malaysian highway is one of the main used for travelling between states. Some of the location had improper road that causes puddles during raining. These puddles become dangerous to the driver especially when raining. These will be affecting the efficiency of the vehicle tyre friction towards the road. From the loss of efficiency, the probability of vehicle to losing control is high and will compromising the driver and passenger safety. This project focused on the design, analyse and fabricate an autonomous robot that can detect the flatness of the surface by moving autonomously on the surface. The project system will be using Arduino as the microcontroller to interface with other sensors. The system will equip with Inertial Measurement Unit (IMU) sensor that will measure the orientation and heading of the robot. This system also will equip with rotary encoder that will measure the distance travel by the robot. For an autonomous navigation system, Proportional Derivative (PD) controller have been applied. Feedback signal from the IMU sensor represent orientation of the robot and accumulate with travel distance measured from rotary encoder. Manipulated data will be transmitting through serial communication via Bluetooth. Graphical User Interface (GUI) will be develop to visualize the gradient and travelling distance of the robot in order to interface for flatness inspection and navigation system.