YANGON TECHNOLOGICAL UNIVERSITY

DEPARTMENT OF ELECTRONIC ENGINEERING

BLUETOOTH BASED REMOTE ROBOT

CONTROLLER

YE MYINT
EC 007 (MAY, 2021)

(M.E. THESIS)

EC 007 (MAY, 2021)

YANGON
 YANGON TECHNOLOGICAL UNIVERSITY
DEPARTMENT OF ELECTRONIC ENGINEERING

BLUETOOTH BASED REMOTE ROBOT

CONTROLLER

YE MYINT
EC 007 (MAY, 2021)

A THESIS
SUBMITTED TO DEPARTMENT OF ELECTRONIC
ENGINEERING
IN PARTIAL FULIFLMENT OF THE REQUIREMENTS FOR
THE DEGREE OF
MASTER OF ENGINEERING (ELECTRONICS)

EC 007 (MAY, 2021)

YANGON
 Abstract

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Mei an rebum nonumy delicata, ex dolore accusam suavitate has, usu ei adhuc
albucius sadipscing. Id equidem patrioque duo, ei eam simul oblique accusam, id
nobis mucius elaboraret pro. Ei pri inani blandit. Sed te etiam expetendis
necessitatibus, utamur consulatu est ea, an usu quem unum eirmod.

At detraxit lobortis indoctum cum. Atqui definiebas per ne, usu veri ignota ad, ne his
constituto consequuntur. Te partem causae omnium mel, eam id facilisi theophrastus.
Ullum adipisci mediocrem te pro, has inani clita debitis no. Pericula interesset
reformidans ei sed, ne est brute paulo aperiam.

Nam unum summo eu, sea debet appetere assueverit ne, accusata torquatos incorrupte
no vim. No alii paulo salutandi mei, nec sonet voluptatum consectetuer et, id quo
blandit delectus inimicus. Mel modus impedit maluisset ad, nec in stet malorum. Eu
has dicit numquam vituperata, te has homero percipit lobortis. Vis malis fastidii ad,
democritum scriptorem eu eos. Mea decore voluptua vivendum ei, tota tacimates
ocurreret eu eum.

i
 Acknowledgements

Lorem ipsum dolor sit amet, graecis alienum constituto ei sed, ei sint cibo soleat ius.
Mei an rebum nonumy delicata, ex dolore accusam suavitate has, usu ei adhuc
albucius sadipscing. Id equidem patrioque duo, ei eam simul oblique accusam, id
nobis mucius elaboraret pro. Ei pri inani blandit. Sed te etiam expetendis
necessitatibus, utamur consulatu est ea, an usu quem unum eirmod.

At detraxit lobortis indoctum cum. Atqui definiebas per ne, usu veri ignota ad, ne his
constituto consequuntur. Te partem causae omnium mel, eam id facilisi theophrastus.
Ullum adipisci mediocrem te pro, has inani clita debitis no. Pericula interesset
reformidans ei sed, ne est brute paulo aperiam.

ii
Table of Contents

iii
List of Figures

iv
 Chapter 1 Introduction

1.1 Motivation
Robotics has been one of the most successful tools in the field of industrial
manufacturing. Robotic arms or manipulators are programmable multifunctional
mechanical devices designed to move material, parts, tools, or specialized devices
through variable programmed motions to perform a variety of tasks. However, the
industrial robots suffer from a fundamental disadvantage, which is the lack of
mobility. A fixed manipulator has a limited range of motion that depends on where it
is bolted down. In contrast, a mobile robot would be able to travel throughout the
manufacturing plant, flexibly applying its talents where it is most effective. Recently,
mobile robots are increasingly popular and even ready-made robots are available for
use in office environments.

Figure 1.1. An industrial robotic manipulator

Although there are many forms of robot locomotion, the actively powered wheels has
been the most popular locomotion mechanism in mobile robotics. It can achieve very
good efficiencies and does so with a relatively simple mechanical implementation. In
addition, balance is usually not a problem in wheeled robot designs, because wheeled
robots are most always designed so that wheels are in ground contact at all times.

Wheeled mobile robots are increasingly present in industrial and service robotics,
particularly when autonomous motion capabilities are required over reasonably

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smooth grounds and surfaces. Roomba™ is a robotic vacuum cleaner from iRobot
that has been widely used as a household appliance.

Figure 1.2. Roomba

Patrolbot™ from Mobile Robots Inc. is a commercially available general purpose

wheeled mobile robot with optional accessories which can enable the robot to act as a
security robot to guard the parameters, as a mobile kiosk to guide visitors to items of
interest with location-specific messaging in the form of audio and/or displays, or as a
service robot to serve food and drinks for the visitors.

Figure 1.3. Patrolbot (Courtesy of Mobile Robots Inc.)

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In mobile robotics, several mobility configurations (wheel number and type, their
location and actuation, single- or multibody vehicle structure) can be found in the
applications. The most common for single-body robots are differential drive and
synchro drive (both kinematically equivalent to a unicycle), tricycle or car-like drive,
and omnidirectional steering. Beyond the obvious relevance in applications, the
problem of motion planning and control of wheeled mobile robots has attracted the
interest of researchers in view of its theoretical challenges. In fact, these systems are a
typical example of non-holonomic mechanisms due to the perfect rolling constraints
(no longitudinal or lateral slipping of the wheels).

Although much research has been done on the control of wheeled mobile robots, most
of the robot platforms used are custom-built or high-end mobile bases with
sophisticated sensors. Given the availability of low-cost robot platforms and robot
toys, some research work needs to be done to see how existing algorithms fare on
these mobile platforms and off-the-shelf components.

1.2 Objectives
The objectives of this dissertation are to analyze the target tracking and following of a
mobile robot using only a single video camera with no pan-tilt control and to develop
a tele-operated autonomous mobile robot system that can follow the object of interest.
It must exhibit real-time performance and must overcome hardware limitations.

First, we seek to perform the real-time tracking of a moving target using a wireless IP
camera which can stream compressed video. Unfortunately, the video compression
introduces a lot of noise to the image. The challenge is to overcome the noise problem
and track the desired target in real time.

Second, the 3-D real world position estimation of the target must be achieved. Since
there is only one camera mounted on the robot, obtaining the depth from a single view
is another challenge.

Third and finally, the robot motion control algorithm must be robust and efficient so
that the robot can follow the target object using the fixed camera with no pan-tilt
control. The challenge here is that the robot must follow the target in such a way that
it must not lose sight of the target during the manoeuver.

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1.3 Major Contribution of the Thesis
Compared to the various tasks to be performed by an autonomous mobile robot, the
target tracking is one of the most important tasks and vision-based target tracking and
following has been explored by many researchers. Most of these research works (R.
Blackburn & G. Nguyen, 1996), (Schlegel, Illmann, Jaberg, Schuster, & Wörz,
1998)are done using stereo vision cameras and various range sensors to get the
location information. There are a few research works (e.g. (R. Blackburn & G.
Nguyen, 1996)) using a single camera but pan-tilt mechanism was employed.

The main contribution of the designed method is the use of only a single fixed camera
to localize the robot and to follow the target. Although this approach has its own
limitations, it can be used as a part of the autonomous system in which a cheap and
low-resolution camera is employed to track and follow the object so that the high-end
vision system is free to perform other sophisticated tasks such as autonomous
navigation, map building or obstacle avoidance.

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 Bibliography

R. Blackburn, M., & G. Nguyen, H. (1996). Vision Based Autonomous Robot

Navigation: Motion Segmentation, 11.

Schlegel, C., Illmann, J., Jaberg, H., Schuster, M., & Wörz, R. (1998). Vision based
person tracking with a mobile robot. In BMVC (pp. 1–10).