Seminar Report

On

Shortest Path Algorithm For GPS

guided Robot
By

Vishakh Shewalkar
Exam No T150454327 Roll No TC164

Under the guidance

of

Prof. Shailaja Jadhav

DEPARTMENT OF COMPUTER ENGINEERING

Marathwada Mitra Mandal’s College of Engineering
Karvenagar, Pune-411052
Savitribai Phule Pune University
2018-19
 Marathwada Mitra Mandal’s
College of Engineering
Karvenagar, Pune-411052

CERTIFICATE

This is to certify that Vishakh Shewalkar from Third Year Computer Engineering has
successfully completed his seminar work titled ”Shortest Path Algorithm for GPS guided
Robot” at Marathwada Mitra Mandal’s College of Engineering, Pune in the partial fulfillment of
the Bachelors Degree in the Engineering

Date:30 March 2019

Place:MMCOE

Prof. Shailaja Jadhav Dr. S.M. Chaware Dr. S.M. Deshpande

Guide Head of the Department Principal
 Acknowledgment

I take this to express my deep sense of gratitude towards my esteemed guide Prof. Shailaja
Jadhav for giving me this splendid opportunity to select and present this seminar and also providing
facilities for successful completion.
I thank Dr. S. M. Chaware, Head, Department of Computer Engineering, for opening the doors of
the department towards the realization of the seminar, all the staff members, for their indispensable
support, priceless suggestion and for most valuable time lent as and when required. With respect
and gratitude, I would like to thank all the people, who have helped me directly or indirectly.

Vishakh Shewalkar
Roll no.164 Class:TE-1
Abstract

The Arduino Mega 2560 controlled 4 wheeled robot uses the co-ordinates obtained from the GPS
module and gets a continuous feedback from the magnetometer and the ultrasonic sensor to reach
at the destination by avoiding all the obstacles. The communication takes place through the
Bluetooth module while the bot is operated using an android device.
Contents

1 Technical Keywords 1
1.1 Robotics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Ultrasonic Sensor SR04, HC-05, L293D Motor Driver shield, HMC5883l Magne-
tometer, Ublox 6m Neo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

2 Introduction 4
2.1 Domain Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.2 Problem Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.3 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

3 Literature Survey 6
3.1 Techniques/Methods/Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3.2 Literature Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.3 Limitations of Literature Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

4 Mathematical Model 9

5 Proposed System Architecture 11

5.1 System Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
5.2 Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
5.3 Implementation/Proof of Concept(if any) . . . . . . . . . . . . . . . . . . . . . . . . 12
5.4 Expected Result and Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

6 Advantages / Disadvantages 13
6.1 Advantages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
6.2 Disadvantages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

7 Applications 14
8 Conclusion and future work 15
List of Figures

1.1 ultrasonic-sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 hc-05 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 L293d . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.4 HMC5883l . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.5 Ublox . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

3.1 Literature Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

4.1 Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

5.1 System Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

TE Seminar Report Shortest Path Algorithm

Chapter 1

Technical Keywords

1.1 Robotics
Robotics is an interdisciplinary branch of engineering and science that includes mechanical engi-
neering, electronic engineering, information engineering, computer science, and others. Robotics
deals with the design, construction, operation, and use of robots, as well as computer systems for
their control, sensory feedback, and information processing.
These technologies are used to develop machines that can substitute for humans and replicate
human actions. Robots can be used in many situations and for lots of purposes, but today many
are used in dangerous environments (including bomb detection and deactivation), manufacturing
processes, or where humans cannot survive (e.g. in space). Robots can take on any form but some
are made to resemble humans in appearance. This is said to help in the acceptance of a robot
in certain replicative behaviors usually performed by people. Such robots attempt to replicate
walking, lifting, speech, cognition, and basically anything a human can do.

1.2 Ultrasonic Sensor SR04, HC-05, L293D Motor Driver

shield, HMC5883l Magnetometer, Ublox 6m Neo
Ultrasonic Sensor SR04: Ultrasonic Sensor is used for detecting obstacles. These are most suitable
sensor preferred for obstacle avoidance as it is of low cost and high range capability.
HC-05: HC-05 is a bluetooth module used for communicating with the microcontroller through
an Android application. We can change the direction of robotic vehicle using HC-05.
L293D Motor Driver shield: The L293D is quadruple high-current half-H drivers.It is designed
to provide bidirectional drive currents of up to 600-mA at voltages from 4.5 V to 36 V. Both

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Figure 1.1: ultrasonic-sensor

Figure 1.2: hc-05

devices are designed to drive inductive loads such as relays, solenoids, dc and bipolar stepping
motors, as well as other high-current/high-voltage loads in positive-supply applications.
HMC5883l Magnetometer: The module includes a state-of-the-art, high-resolution HMC118X
series magneto-resistive sensor, plus an ASIC containing amplification, automatic degaussing strap
drivers, offset cancellation, and a 12-bit ADC that enables 1 to 2 compass heading accuracy. The
I2C serial bus allows for easy interface.
Ublox 6m Neo: The NEO-6M GPS module is a well-performing complete GPS receiver with a
built-in 25 x 25 x 4mm ceramic antenna, which provides a strong satellite search capability. With
the power and signal indicators, you can monitor the status of the module.

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Figure 1.3: L293d

Figure 1.4: HMC5883l

Figure 1.5: Ublox

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Chapter 2

Introduction

Now a days many industries are using robots due to their high level of performance and reliability
and which is a great help for human beings. The obstacle avoidance robotics is used for detecting
obstacles and avoiding the collision. The design of obstacle avoidance robot requires the integration
of many sensors according to their task.
The obstacle detection is primary requirement of the robot. The robot gets the information
from surrounding area through mounted sensor on the robot. Ultrasonic sensor is most suitable
for obstacle detection and it is of low cost and has high ranging capability. A simple project
on Obstacle Avoiding Robot is designed here. Robotics is an interesting and fast growing field.
Being a branch of engineering, the applications of robotics are increasing with the advancement of
technology.
The concept of Mobile Robot is fast evolving and the number of mobile robots and their
complexities are increasing with different applications.
There are many types of mobile robot navigation techniques like path planning, self localization
and map interpreting. An Obstacle Avoiding Robot is a type of autonomous mobile robot that
avoids collision with unexpected obstacles.
In this project, an Obstacle Avoiding Robot is designed. It is an Arduino based robot that
uses Ultrasonic range finder sensors to avoid collisions.

2.1 Domain Description

The field of Robotic systems encompasses everything to do with the design, engineering, program-
ming, testing and development of robots, human robots, and collaborative robots to help humans
perform daily activities. Robotics is growing rapidly with the advent of big data and the IoT

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and machines are now capable of processing large quantities of data and learning with minimal
human interaction. Using autonomous vehicles as an example, the sensors on the vehicle process
thousands of data points each second along with location data from the web to move the vehicle
safely along its route. Robotics projects and applications can be found across a large number of
industries from automotive production to military drone operations to landing on and exploring
Mars.

2.2 Problem Definition

A secured communication line should be established between the android device and the robotic
vehicle. Accurate readings following with the required algorithms are to be used to control the
robot. To achieve precision in avoiding the obstacles and reaching the desired position.

2.3 Motivation
The purpose of this system is mainly for Defence Services. Reduced error rate can result can
result into lesser casualties and thus save the nation saviors. The main scope of the project is to
automatically change the direction of Robotic vehicle whenever any obstacle comes on it’s way
and summon the desired position, Ultrasonic Sensors are the most suitable sensors to detect an
obstacle and a microcontroller Arduino mega 2560 is used to achieve the desired operation.

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Chapter 3

Literature Survey

3.1 Techniques/Methods/Tools

Figure 3.1: Literature Survey

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3.2 Literature Survey

1. I. PAPER 1: AUGUST 1997 Adaptive Navigation of Mobile Robots with Obstacle Avoidance
Robot navigation problems can be generally classified as global or local, depending upon the
environment surrounding the robot. In global navigation, the environment surrounding the
robot is known and a path which avoids the obstacles is selected. In one example of the
global navigation techniques, graphical maps which contain information about the obstacles
are used to determine a desirable path. In local navigation, the environment surrounding
the robot is unknown, or only partially known, and sensors have to be used to detect the
obstacles and a collision avoidance system must be incorporated into the robot to avoid the
obstacles. The artificial potential field approach is one of the well-known techniques which
has been developed for this purpose. Krogh, for example, used a generalized potential field
approach to obstacle avoidance. Kilm and Khosla used instead harmonic potential functions
for obstacle avoidance. On the other hand, Krogh and Fang used the dynamic generation of
sub goals using local feedback information.

2. PAPER 2: SEPTEMBER/OCTOBER1989 Real-time Obstacle Avoidance for Fast Mobile

Robots Real-time obstacle avoidance is one of the key issues to successful application of
mobile robot systems. All mobile robots feature some kind of collision avoidance, ranging
from primitive algorithms that detect an obstacle and stop the robot short of it in order to
avoid a collision, through sophisticate algorithms, that enable the robot to detour obstacle.
The later algorithms are much more complex, since they involve not only the detection of
an obstacle, but also some kind of quantitative measurements concerning the obstacles di-
mensions. In our system the ultrasonic sensor are continuously sampled while the robot is
moving. If an obstacle produces an echo, the corresponding cell contents are incremented.
A solid, motionless obstacle eventually causes a high count in the corresponding cells. Mis-
reading, on the other hand, occur randomly, and do not cause high count in any particular
cell. These methods yield a more reliable obstacle representation in spite of the ultrasonic
sensors inaccuracies.

3.3 Limitations of Literature Survey

1. The project is too time consuming.

2. Cost inefficient.

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3. Ultrasonic Sensor does not work in vacuum, as sound waves cannot travel in it.

4. Have a limited detection range.

5. Intollerant to reverse voltSensor failures can cause major damages.

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Chapter 4

Mathematical Model

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Figure 4.1: Architecture

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Chapter 5

Proposed System Architecture

5.1 System Architecture

Figure 5.1: System Architecture

5.2 Algorithms
Dijkstras algorithm is a classic algorithm for finding the shortest path between two points due to
its optimisation capability. The adjacency matrix is the nave storage structure of the algorithm.
This storage structure has limited the use of the algorithm as it expands large storage space. A
multi-layer dictionary is proposed in this work to enhance the storage structure. Previously, the

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algorithm was used to optimise single parameter (such as distance, time and fuel) for movement
between two places. The path computed using the classic Dijkstras algorithm is the shortest;
however, it may not be the most feasible.
Dijkstra is a breadth-first-search (BFS) algorithm for finding the shortest paths from a single
source vertex to all other vertices. It processes vertices in increasing order of their distance from
the source, which are also called root vertices. The shortest path between two vertices is a path
with the shortest length (i.e. least number of edges), also called link-distance. Let G=(U,V be a
weighted undirected graph, with weight function w:E-¿R mapping edges to real-valued weight. If
e(u,v), then we write w(u,v) for w(e). The length of a path P=v1,v2,v3..total of the weight

5.3 Implementation/Proof of Concept(if any)

We build a Robotic vehicle which moves in different directions like Forward, Backward, Left, Right
when input is given to it. The goal of our project is to create an autonomous robot using Ultrasonic
sensors which intelligently detects the obstacle in his path and navigate according to the actions
that we set for it.

5.4 Expected Result and Analysis

Now a days, obstacle avoidance of a robotic vehicle has become an issue. So to overcome the issue,
our designed Robotic vehicle should detect an obstacle and change the direction accordingly and
summon the desired position.

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Chapter 6

Advantages / Disadvantages

6.1 Advantages
1. A Secured communication is established.

2. Defence Mobility Vehicles.

3. Delivery Systems

6.2 Disadvantages
1. The project is too time consuming.

2. Cost inefficient.

3. Ultrasonic Sensor does not work in vacuum, as sound waves cannot travel in it.

4. Have a limited detection range.

5. Intollerant to reverse voltSensor failures can cause major damages.

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Chapter 7

Applications

1. Defence Mobility Vehicles Unmanned Vehicles

2. Fire-fighting Systems

3. Covert Operations

4. Delivery Systems

5. Parking Systems

6. Spying

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Chapter 8

Conclusion and future work

A GPS guided robotic vehicle is developed that can avoid obstacles and can be operated through
an android device. The goal of reaching the desired location is achieved with an accuracy of 10
meters because of the scrambling of the signals by government organization. The direction is
retrieved and used successfully at any point of time.

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Bibliography

[1] Fadzli Syed Abdullah, Sani Iyal Abdulkadir, Mokhairi Makhtar, and Azrul Amri Jamal.
Robotic indoor path planning using dijkstras algorithm with multi-layer dictionaries.

[2] Anahid Basiri, Pouria Amirian, and Adam Winstanley. The use of quick response (qr) codes in
landmark-based pedestrian navigation. International Journal of Navigation and Observation,
2014, 2014.

[3] Johann Borenstein and Yoram Koren. Real-time obstacle avoidance for fast mobile robots.
IEEE Transactions on systems, Man, and Cybernetics, 19(5):1179–1187, 1989.

[4] Chen-Yuan Chen, Bih-Yaw Shih, Wei-Chung Chou, Ya-Ju Li, and Yi-Hsuan Chen. Retracted:
Obstacle avoidance design for a humanoid intelligent robot with ultrasonic sensors. Journal of
Vibration and Control, 17(12):1798–1804, 2011.

[5] Syed Abdullah Fadzli, Sani Iyal Abdulkadir, Mokhairi Makhtar, and Azrul Amri Jamal.
Robotic indoor path planning using dijkstra’s algorithm with multi-layer dictionaries. In 2015
2nd International Conference on Information Science and Security (ICISS), pages 1–4. IEEE,
2015.

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