A Beacon based Localization System for Autonomous Mobile Robots and its Applications in Traffic and Transport Control

ACCURATE sensing of vehicle position and attitude is still a very challenging problem in many mobile robot applications. The mobile robot vehicle applications must have some means of estimating where they are and in which direction they are heading. Many existing indoor positioning systems are limited in workspace and robustness because they require clear lines-of-sight or do not provide absolute, driftfree measurements.The research work presented in this dissertation provides a new approach to position and attitude sensing system designed specifically to meet the challenges of operation in a realistic, cluttered indoor environment, such as that of an office building, hospital, industrial or warehouse. This is accomplished by an innovative assembly of infrared LED source that restricts the spreading of the light intensity distribution confined to a sheet of light and is encoded with localization and traffic information. This Digital Infrared Sheet of Light Beacon (DISLiB) developed for mobile robot is a high resolution absolute localization system which is simple, fast, accurate and robust, without much of computational burden or significant processing. Most of the available beacon's performance in corridors and narrow passages are not satisfactory, whereas the performance of DISLiB is very encouraging in such situations. This research overcomes most of the inherent limitations of existing systems.The work further examines the odometric localization errors caused by over count readings of an optical encoder based odometric system in a mobile robot due to wheel-slippage and terrain irregularities. A simple and efficient method is investigated and realized using an FPGA for reducing the errors. The detection and correction is based on redundant encoder measurements. The method suggested relies on the fact that the wheel slippage or terrain irregularities cause more count readings from the encoder than what corresponds to the actual distance travelled by the vehicle.The application of encoded Digital Infrared Sheet of Light Beacon (DISLiB) system can be extended to intelligent control of the public transportation system. The system is capable of receiving traffic status input through a GSM (Global System Mobile) modem. The vehicles have infrared receivers and processors capable of decoding the information, and generating the audio and video messages to assist the driver. The thesis further examines the usefulness of the technique to assist the movement of differently-able (blind) persons in indoor or outdoor premises of his residence.The work addressed in this thesis suggests a new way forward in the development of autonomous robotics and guidance systems. However, this work can be easily extended to many other challenging domains, as well.

An Improved Technique for Evolving Wavelet Coefficients for Fingerprint Image Compression

In this paper, an improved technique for evolving wavelet coefficients refined for compression and reconstruction of fingerprint images is presented. The FBI fingerprint compression standard [1, 2] uses the cdf 9/7 wavelet filter coefficients. Lifting scheme is an efficient way to represent classical wavelets with fewer filter coefficients [3, 4]. Here Genetic algorithm (GA) is used to evolve better lifting filter coefficients for cdf 9/7 wavelet to compress and reconstruct fingerprint images with better quality. Since the lifting filter coefficients are few in numbers compared to the corresponding classical wavelet filter coefficients, they are evolved at a faster rate using GA. A better reconstructed image quality in terms of Peak-Signal-to-Noise-Ratio (PSNR) is achieved with the best lifting filter coefficients evolved for a compression ratio 16:1. These evolved coefficients perform well for other compression ratios also.

Array pattern nulling by element position perturbations using a genetic algorithm

A genetic algorithm has been used for null steering in phased and adaptive arrays . It has been shown that it is possible to steer the array null s precisely to the required interference directions and to achieve any prescribed null depths . A comparison with the results obtained from the analytic solution shows the advantages of using the genetic algorithm for null steering in linear array patterns

Design of a Compact Genetic Microstrip Antenna with improved performance

In this paper the design issues of compact genetic microstrip antennas for mobile applications has been investigated. The antennas designed using Genetic Algorithms (GA) have an arbitrary shape and occupies less area (compact) compared to the traditionally designed antenna for the same frequency but with poor performance. An attempt has been made to improve the performance of the genetic microstrip antenna by optimizing the ground plane (GP) to have a fish bone like structure. The genetic antenna with the GP optimized is even better compared to the traditional and the genetic antenna.

A Faster 2D Technique for the design of Combinational Digital Circuits Using Genetic Algorithm

Combinational digital circuits can be evolved automatically using Genetic Algorithms (GA). Until recently this technique used linear chromosomes and and one dimensional crossover and mutation operators. In this paper, a new method for representing combinational digital circuits as 2 Dimensional (2D) chromosomes and suitable 2D crossover and mutation techniques has been proposed. By using this method, the convergence speed of GA can be increased significantly compared to the conventional methods. Moreover, the 2D representation and crossover operation provides the designer with better visualization of the evolved circuits. In addition to this, a technique to display automatically the evolved circuits has been developed with the help of MATLAB