An Autonomous Robot Based on a Wheelchair

Ral A. Gonzales
Universidad Nacional de
Asuncin, Paraguay
rgonzalez1512@gmail.com

Federico A. Gaona
Universidad Nacional de
Asuncin, Paraguay
egasoft@gmail.com

Ral R. Peralta
Universidad Catlica San
Pablo, Per
rperalta@ucsp.edu.pe


Abstract

This paper presents the design and
implementation of an Autonomous Movement Robot
based on a Wheelchair. The target coordinates of the
destination place are pre-established in the
processing unit of the robot and it uses a GPS system
and sensors in order to get its final destination and
to avoid obstacles in its path respectively. The
contribution of this work is the combination of
several technologies and techniques that came from
different areas such as mechanical, electronic and
computer engineering.

1. Introduction

Autonomous robots are physical entities capable
of perception of an environment and act on it based
on those perceptions, without direct supervision of
any agents. They are the most evolved regarding
information processing. According to [1], these
machines are able to perceiving, modeling the
environment to plan and act to achieve goals without
intervention, or with very little, from human
supervisors.
In a mobile robot, the obstacle avoidance must be
the highest priority. Since it could crash or damage
another object. This condition not only can risk the
robot itself, but also third parties. Therefore the
sensors have a great importance, since they can
analyze the robot's environment and they can provide
information for processing unit of the robot. The
ultrasonic rangefinders are perfect for sensors. The
analysis of their environment is essential not only to
detect obstacles next to the robot but also to locate
the machine on the globe. The location is obtained
by using the Global Positioning System, GPS.
By this method, the robot is capable of orienting
itself to a set point by analyzing the angle and
distance which meets the objective, as well as
reducing these data in order to reach the destination.
Between 2008 and 2009, authors in [2] developed an
algorithm for robots and other autonomous systems
to calculate trajectories to avoid walls and obstacles
in order to find a smooth and safe way, similar to
how humans do.
The utilities that an autonomous robot can provide
are diverse, such as monitoring large spaces,
advertising in malls, or implementing the system in a
wheelchair for quadriplegic people, agricultural
tractors for irrigation, sowing, harvesting crops in
large areas among others.
This paper presented the design and
implementation of an autonomous movement robot
developed at Electronics and Mechatronics Research
Group GIEM. Escuela Politecnica, Universidad
Nacional de Asuncion, Paraguay. [3]. The robot uses
all the sensor and locomotion techniques mentioned
above to be automated.
The rest of this paper is organized as follows:
Section II describes the design (block diagram,
algorithms and the parts of the robot). Section III
presents the results, following by the discussion in
Section IV. Finally, Section VI shows the
conclusions and future work.

2. Design of the autonomous robot

Figure 1 presents the block diagram of the robot.
The robot is an autonomous robot based a
wheelchair. Thus this application could help people
who suffer from physical disabilities. The designed
system is composed by sensors, Sound sensor, GPS,
one LCD, a power supply, drivers, CD motors and a
processing unit. The processing unit is based on two
PIC16F877 microcontrollers range of Microchip
[4]. Microcontroller 1 is connected to the sound
sensor and the ultrasonic distance sensors. This
microcontroller controls the movement of the DC
motors through the drivers. It also has connection to
a personal computer (PC) for the introduction of the
target coordinates. The microcontroller 2 is
connected to the GPS, which in turns knows the
location of the robot and it calculates the distance to
the target. The actual location (latitude and
longitude) is displayed on the LCD.
978-1-61284-1325-5/12/$26.00 2012 IEEE 283


Figure 1. Block Diagram

A. Power Supply
Different parts of the circuit
voltages. The power supply is comp
batteries connected in series. This
DC motors and it is distributed
regulators used. For remote sensors
needed and therefore voltage regul
type are used [5]. The microcontrol
the GPS 3.3V, therefore the regulat
[5] and TA48033 [6] were used resp
B. Ultrasonic Distance Senso
The ultrasonic distance measu
adapted for measure the distance be
and the obstacles in the range of thre
This circuit has three seven segm
showing distance values from 10 to
The data is gathered by the integr
4553. The data is received by the
chip 4511, which is responsible of
data in the display, is the ones that
the PIC in BCD and the program int

C. Sound sensor
The sound sensor is composed
circuit and one sound sensor. Whe
(sound) is received another output s
and introduced to the PIC which
interruption in the program. This c
stop in the robots motors (five se
any emergencies that may occur.

D. GPS
Currently, in every six orbits, th
satellites at the height of appro
kilometers. This condition occurs
cycle demands 12 hours, and every
is coming from orbit, another is alr
The GPS receivers are constant
receiving data sent by these sat
calculate its position through trian
the data this can calculate are the la
height and direction among others
CUT time (Coordinated Universal

require different
posed by two 12V
voltage feeds the
to the different
, voltage of 9V is
lators of LM7809
llers need 5V and
tors type LM7805
pectively.
ors
urer circuit was
etween the robots
ee meters long.
ments displays for
o 300 centimeters.
rated circuit chip
integrated circuit
f displaying these
go to the ports of
terprets them.
by an amplifier
en a signal input
ignal is generated
in turn calls an
ondition causes a
econds delay) for
here are four GPS
oximately 20000
because a round
time one satellite
ready replacing it.
ly in charge of
tellites, and thus
ngulation. Among
atitude, longitude,
s. The GPS uses
l Time) from the
U.S. naval militia.
According to [7], for the lo
the value of four unknowns mu
are latitude (LA), longitude (L
time difference between th
receiver clock (t). By app
through 8 to the data that cam
the location is known by the ro

Da=
_
(LAa-LA)
2
+(LOa-LO)
2
+(Ha-H
Db=
_
(LAb-LA)
2
+(LOb-LO)
2
+(Hb-
Dc=
_
(LAc-LA)
2
+(LOc-LO)
2
+(Hc-H
Dd=
_
(LAd-LA)
2
+(LOd-LO)
2
+(Hd-H

Da=c(Ta-Ts+t) (Eq. 5)
Db=c(Tb-Ts+t) (Eq. 6)
Dc=c(Tc-Ts+t) (Eq. 7)
Dd=c(Td-Ts+t) (Eq. 8)

Where, c is speed of the li

Figure 2 shows the data rec
The information is used to ca
the receptor.


Figure 2. Data Reception from satellit

To obtain data from globa
52D model GPS receiver circu
operates at a frequency of 1
(Code C/A) and has a gain of
The output data format is
(National Marine Associatio
measurement is less than 15 m
are updated every second with

a. GPGGA: Satellite Po
b. GPGSA: Satellites us
c. GPGSV: Informati
satellites
d. GPRMC: Navigation
ocation of the receiver,
ust be calculated which
LO), height (H) and the
e satellite clock and
lying the equations 1
me from the satellites,
obot.
H)
2
(Eq. 1)
-H)
2
(Eq. 2)
)
2
(Eq. 3)
H)
2
(Eq. 4)
ght.
ception from satellites.
alculate the location of

tes
al positioning system a
uit is used. The receiver
MHz 1575.42 MHz
f -134dBm (open field).
protocol NMEA-0183
on) and the precision
meters. The output data
h the following values:
sition.
ed and DOP value.
ion about available
Information.
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e. GPVTG: Direction and Spe
f. GPZDA: Time and Date.

For the robot, the most import
GPRMC since it contains the naviga
This data is sent in the following
(1) hhmmss.sss, (2) A / V, (3) ddmm
S, (5) dddmm.mmmm, (6) E / W
hhh.hh, (9) ddmmyy. Where:
(1) UTC time is: hh: hours, mm
seconds.
(2) Measure Situation: A: GPS A
not available.
(3) Latitude: dd: Degrees, mm.
(up to 10-4)
(4) N: North Latitude, S: South L
(5) Longitude: ddd: Degree mm
(up to 10-4)
(6) E: East Longitude, W: West L
(7) Speed: Unit: Knots. 1Knot= 1
(8) Measure Unit Direction: Deg
and clockwise turns up to 359
(9) Date dd: day, mm: month, yy

In the program running by th
longitude and direction values are on
data chain.

E. The Processing Unit
Two Microchip line micro
PIC16F877 family are used.
microcontroller has four digital p
connection of all sensor and actuato
addition to digital ports, it also has
also enables the use of two channel
Modulation (PWM) for speed v
engines.
The communication between o
other is achieved by using I2C
Implementation programs are reco
through the Microchip PICkit2
Each microcontroller has a saved
language and compiled with the C
[8]. The software in the microcont
interpretation of the environment th
robot possible, the movement betwe
the location using global positioning
The robot uses two modes of beha

a) The first one is a wall follow
cases where the robot is inside
close facility. The robot, thro
identifies the walls surrounding
doors and corners as well as pa
of obstacles. The program w
information sent by the distanc
having that, it indicates the engin
eed.
tant parameter is
ation information.
format: GPRMC,
m.mmmm, (4) N /
W, (7) ssss.ss, (8)
m: minutes, ss.sss:
Available, V:GPS
mmmm: Minutes
Latitude.
m.mmmm: Minutes
Longitude.
1852 m/h
grees. North is 0
9.99
y: year.
he PIC, latitude,
nly used from this
ocontrollers from
. This 40-pin
ports, facilitating
or components. In
analog ports, and
s for Pulse Width
variation of the
one PIC and the
C protocol. The
orded on the PIC
recorder.
d developed in C
CCS software
trollers makes the
hat surrounds the
een obstacles and
g system.
avior:
wer or escort, for
e a building or a
ough its sensors,
it, the location of
assing other types
will analyze the
ce measurer, and
nes the running at
same speeds, in case it is f
wall or a person walking
distance of 50 centimeters
speed of one of the engin
left depending whether the
case or more than 50 centim
this mode the GPS is not u
b) The second mode is t
open fields or outdoors, w
obstacles or corners and
location finding a prede
operate at the same time. In
software is in charge of gu
predefined location for thi
from the current position
where the robot is intende
Then the following consid
provided by the GPS ar
(Figure 3 and Figure 4) by
through 13:

y=2i tan[

2
(Eq. 9)
x=2i
1
tan [

2
(Eq. 10)
i
1
=icos() (Eq. 11)

Where, r = 6378137.



Bistance=x
2
+y
2
(Eq
Biiection =tan
-1
[
y
x
(E

Figure 3. Distance calculated by the P

Figure 4. Location of the robot calcula
following the path of a
g alongside, keeping a
s, or to slow down the
nes for turning right or
e distance is less in one
meters in other case. In
sed.
the robot's behavior at
where, the perception of
d the positioning and
efined place via GPS
n this second mode, the
uiding the robot to the
s purpose, the distance
n to the target point
ed to get is calculated.
derations from the data
re taken into account
y using the equations 9


q. 12)
q. 13)
Processing Unit.

ated by the Processing Unit.
978-1-61284-1325-5/12/$26.00 2012 IEEE 285

The triangle indicates the robot'
and its angle to the North that ca
with the GPS. The program calcula
by the equation 13 of Figure 3. In th
changes its direction by the angle di
the current angle 90 - to direct i
destination. After analyzing this dat
to move. As the robot moves to
destination, it corrects its path, wh
obstacles in its path. The software c
second, the target distance ( Dista
of Figure 3), until it confirms that th
some tolerance value (depending on
the GPS), once this is accomplish
robot is already in the predefined pla

3. Results

Using the chassis and DC motor
wheelchair, it has developed an au
with excellent performance,
components. Circuits of engine po
sensory circuits are developed. As a
stage, a wall follower robot or escor
task that complies using a single se
The robot is able to be 50 centimet
escort and correcting any variation (


Figure 5. Autonomous robot running the esco

In case the escort stops, the rob
waiting to continue the movem
follower, it is able to follow the pat
a corridor, making turns at corners
through doors.
In the second stage of the p
positioning controller circuit is de
microcontroller connected to the G
the LCD for displaying data,
development of such driver softwa
able to go to a predefined point th
calculation of its distance and trajec
s current location
an be determined
ates the value of
his case, the robot
ifference between
itself to the target
ta, the robot starts
oward the target
hile avoiding any
calculates every 1
ance, equation 13
his value is within
n the accuracy of
hed, it means the
ace.
rs of an electronic
utonomous robot,
from simple
ower, control and
a result of the first
rt was obtained, a
ensor rangefinder.
ters away with an
(Figure 5).

ort mode
bot rotates around
ment. As a wall
th of a wall along
and even getting
project, a global
esigned with the
GPS receiver and
as well as the
are. The robot is
rough continuous
ctory to the target
destination.

4. Discussion

There is a wide variety of
the interpretation of the en
autonomous robot. With those
optimal result was gotten, but
system the following could be
Achieve a greater accuracy
current has a margin of error
margin is decreased, time o
location will be faster. Re
camera to the microprocessor
improvement. This condition
information flow since the ro
places.
These first two points, nece
one. Improve the type of micro
does not support the amount
means a more complicated
error corrections of GPS as w
of images per camera. All the
be complemented among
sciences, giving the robot a
autonomy.

5. Conclusions and futu

A wheel chair robot with a
has been designed and d
intelligence system that can
different types of mobile
electronic wheelchairs, farm
vehicles among others, which
diverse uses. Among the
highlight, the mechanics, for
of a power wheelchair to turn
robot, the electronics, with all
microcontrollers, voltage
(mosfets), circuit developmen
sciences, making the program
behavior, decision making,
automatic control, with th
measuring sensors, sound sens
With the synergistic com
branches of science such as m
computer engineering, this a
possible to achieve.

6. References

[1] Ollero Baturone (2008), Ro
mobile Robots,Spain: Edito
pages 125-127.
[2] Madridiario. "Science and Te
www.madridiario.com.es
f electronic sensors for
nvironment around an
used in this project, an
t to improve the whole
optimized.
y of the GPS, since the
r of 15 meters. If this
of arrival at the final
eceiving images from
would be an important
n provides a greater
obot would recognizes
essarily lead to the next
oprocessor. PIC16F877
t of instructions which
algorithm in terms of
ell as the interpretation
ese points together can
them with computer
much higher level of
re work
autonomous movement
developed having an
n be implemented in
e machines, whether
tractors, surveillance
h makes it capable for
techniques used to
the use and adaptation
n it into an autonomous
l types of circuits used,
regulators, drivers
nt, etc., the computer
mming for the robot's
etc., and finally the
he help of distance-
sor and GPS.
mbination of all these
mechanic, electronic and
autonomous robot was
obotics, Manipulators y
orial Marcombo Editorial,
echnology Available at
978-1-61284-1325-5/12/$26.00 2012 IEEE 286
[3] Electronics and Mechatronics Research Group
GIEM. Polytechnic School, National University of
Asuncion. Paraguay.
www.pol.una.py/page.php?p=giem
[4] Microchip Technology Inc. (2007), Data sheets.
Available at www.microchip.com.
[5] Taitron Components Inc. (2007), Voltage Regulator
Specification Available at
www.taitroncomponents.com .
[6] Toshiba (2004), TOSHIBA Bipolar Linear
Integrated Circuit. Available at
www.alldatasheets.com
[7] The Institute of Navigation (1980), Global
Positioning System, EE.UU. John Wiley & Sons
Editorial, 409 pages
[8] Custom Computer Services Inc. (2009), C Compiler
Reference Manual, EE.UU.
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