Implementation of Omni-D Tele-Presence Robot Using Kalman Filter and Tricon Ultrasonic Sensors
Abstract
:1. Introduction
1.1. Motivation
1.2. Related Work and Challenges
1.3. Novelty and Contributions
- We have presented a tele-presence robot to offer the efficient video transmissions by using a WebRTC. The corresponding details are given in Section 3.3.
- Designing of an online portal using a hypertext markup language (HTML) that can be accessed from anywhere in the world. Then, the integration of our designed portal with the proposed tele-presence robot is an additional contribution.
- Performance evaluation of the WebRTC for three different video resolutions, i.e., , , and pixels.
- We have proposed a Tricon sensor algorithm for the Kalman Filter to improve the robustness of the collision avoidance.
- Simulation of the TPR with Kalman filter for the crucial paths/hurdles to estimate the parameters, i.e., velocity and position.
- Hardware implementation, testing of the TPR in real environment and performance comparison with simulated results.
2. Preliminaries
2.1. Modeling of Omnidirectional Wheels
2.2. DC Motor Modeling
2.3. Kalman Filter
3. Proposed Design of Omnidirectional Tele-Presence Robot
3.1. Our Proposed Algorithm for Tricon Ultrasonic Sensors
Algorithm 1 Proposed Tricon algorithm for the ultrasonic sensors. |
|
3.2. Control and Integration of Kalman Filter in TPR
3.3. Webrtc Integration in the Tele-Presence Robot (TPR)
4. Simulation Results
4.1. Performance Evaluation of Webrtc
4.2. Simulation of Controller along with Kalman Filter
5. Hardware Demonstrations and Testing of Tpr
5.1. Hardware Demonstration
5.2. Testing of the Tele-Presence Robot
5.3. Significance of the Proposed TPR
6. Conclusions and Future Work
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
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Constants | Description | Value |
---|---|---|
Equivalent viscous damping | 1.2 × Nm s/rad | |
Sum of the motor inertia | 3.35 × kg· m | |
Resistance of motor rotor | 340.0 | |
Armature constant | 0.009540 | |
Inductance of motor rotor | 0.120 mH |
API | Resolution | Encode (ms) | Avg. Delay (ms) | Throughput (Mbps) |
---|---|---|---|---|
WebRTC | 320 × 280 | |||
WebRTC | 820 × 460 | |||
WebRTC | 900 × 590 |
Components | Rating/Model/Value |
---|---|
Chassis | 16 guage Alloy |
Microprocessor | Raspberry pi Model B |
Ultrasonic sensors | 1.2 V |
Accelerometer | MPU6050 |
Battery (Li-po) | 11.40 V 6A |
Motor-Driver | BTN7971 |
Motors (DC-Gear) with encoders | FAULHABER 3557K012C |
Router | DNS/Internet connectivity |
Omnidirectional wheels | 3-way |
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Tariq, H.; Rashid, M.; Javed, A.; Riaz, M.A.; Sinky, M.; Zia, M.Y.I. Implementation of Omni-D Tele-Presence Robot Using Kalman Filter and Tricon Ultrasonic Sensors. Sensors 2022, 22, 3948. https://doi.org/10.3390/s22103948
Tariq H, Rashid M, Javed A, Riaz MA, Sinky M, Zia MYI. Implementation of Omni-D Tele-Presence Robot Using Kalman Filter and Tricon Ultrasonic Sensors. Sensors. 2022; 22(10):3948. https://doi.org/10.3390/s22103948
Chicago/Turabian StyleTariq, Hassan, Muhammad Rashid, Asfa Javed, Muhammad Aaqib Riaz, Mohammed Sinky, and Muhammad Yousuf Irfan Zia. 2022. "Implementation of Omni-D Tele-Presence Robot Using Kalman Filter and Tricon Ultrasonic Sensors" Sensors 22, no. 10: 3948. https://doi.org/10.3390/s22103948