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Virtual Localization of Mobile Robot in Simulink and Hardware Interfacing

M.C. Harish Bharath, G. Kalaiarassan


Mobile robots have proved to be efficient at ground work in current generation industrial environment, not only at a particular field but due to its simplicity of usage they have been also emerging in commercial areas as well. Less occupying space, easily programmable function, and flexible usage are some of the attractive features of mobile robot. Our project deals with the same, the mobile robot is to be used with the help of ultrasonic transmitters and receiver pairs to track its path and guide to its next node point and so on to the destination.

 The project is broken down to small subparts, out of which two main subparts are simulation and hardware setup. Initially the main concentration is made on developing the algorithm for the robot for its collidance avoidance in industrial environment and tracking of its positioning via ultrasonic waves provided to it from the ceiling. This could be achieved easily from the open source software Simulink in the MATLAB. The primal task includes to build a robot model using any designing software, exporting it to Simulink and there on simulating it. The algorithm can be composed with the help of block diagrams in Simulink and can be fed to the robot there by. The simulation subpart is complete once the algorithm executes we switch on to the hardware construction, a simple pioneer robot or a similar model can be of help here and with proper setting up of ultrasonic transmitters on ceiling and receivers on the bot we would end with hardware subpart. Interfacing plays an important part here, the composed algorithm has to execute properly worked on the hardware. As a collective sense this project helps to imagine an industry with a swarm of mobile robots moving here and there accomplishing their work under the ultrasonic nodes. If put up to good use and stronger coding any functionality can be achieved via this mobile robot. Such is its power which makes it stand separate from other robots.


Localization, Global and Local Frames, Sim Mechanics, Kinematic Subsystem, Virtual Reality , Vrealm, State Flow Chart , Pioneer Robot.

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