Synopsis_report
Synopsis_report
Synopsis_report
Synopsis
Submitted By
Name SAP ID Branch
Harman Singh Malhotra 500091033 B. Tech AI/ML (H)
1. Project Title
U-Tour - An automated tour robot guide
2. Abstract
This project focuses on the development of a fully autonomous robot designed to navigate a
college campus, providing guided tours to visitors while avoiding obstacles in real-time. The
robot uses a Raspberry Pi as its central processing unit, with onboard sensors including a
LIDAR for obstacle detection and a GPS module for location tracking. Navigation is driven by
a set of high-density waypoints, spaced approximately one meter apart, stored in a memoized
GIS dataset. This allows the robot to follow a predefined, human-friendly path that ensures it
adheres to intuitive routes while avoiding unnatural or highly optimized paths that are not easily
followable by humans. The robot’s path-planning is enhanced by a potential field algorithm
where waypoints act as attractive forces, guiding the robot towards landmarks, while obstacles
detected by the LIDAR create repulsive forces to prevent collisions. The use of dense
waypoints ensures precision in movement and adherence to designated paths, while the
dynamic collision avoidance system allows the robot to operate safely in populated and ever-
changing environments.
The integration of ROS (Robot Operating System) enables real-time processing and sensor
fusion, combining GPS, odometry, and LIDAR data for accurate localization and smooth
navigation. By maintaining a predefined route across key campus locations, the robot provides
an engaging and interactive experience for visitors, while demonstrating robust performance
in autonomous navigation and collision avoidance.
3. Introduction
Colleges and universities frequently face logistical challenges when organizing campus tours
for visitors, including prospective students, alumni, and guest lecturers. One major issue is the
reliance on professors or specialized staff to conduct these tours, which is not only a time-
consuming task but often takes these valuable personnel away from their primary academic
responsibilities. For instance, when a visiting professor from a specific field, like physics,
requires a tour, it becomes necessary to find another expert in that area to ensure meaningful
interactions—further straining resources. This process can lead to inefficiencies and even
missed opportunities for deeper engagement.
Furthermore, the growing demand for customized, insightful tours that cater to the specific
needs of different visitors adds another layer of complexity. Current manual methods are labor-
intensive, and often do not fully address the personalized requirements of all attendees. U-Tour,
an automated tour robot guide, offers an innovative solution to these challenges. By leveraging
advanced navigation technologies such as LIDAR-based collision avoidance and high-density
waypoints, U-Tour ensures that campuses can provide engaging, informative tours without
burdening faculty and staff. This not only frees up academic personnel but also elevates the
institution's ability to showcase its offerings efficiently and intelligently.
Through this project, the college will introduce a cutting-edge, fully autonomous system
capable of providing real-time, obstacle-avoiding tours that enhance the visitor experience, all
while representing a forward-thinking commitment to technological innovation.
4. Literature Review
Serial Paper Objec ve Approach Limita ons
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1 RoboX - The main goals of So ware Architecture: 1. Scalability:
Fully the project were: o Distributed While 11
Autonomo To system using robots
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Guide industrial (running XO/2 produced,
Robot high- real- me OS) the paper
quality for naviga on doesn't
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mobile interac on system
pla orms o Safety-cri cal manages
with the tasks running mul ple
best on the PowerPC robots
available with watchdog opera ng
academic systems and a simultaneo
research redundant usly in the
technique security same
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mobile Naviga on System: 2. Human
robot o Obstacle interven o
naviga on avoidance using n: The
and an adapted paper
interac o dynamic men ons
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method human
o Feature-based interven o
mul - n is
hypothesis some mes
localiza on required
using Kalman for error
filters and recovery,
constrained- which
based search could be a
limita on
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5. Problem Statement
Traditional campus tour methods are inadequate due to:
Limited availability
Inconsistency in delivery
Accessibility issues
These limitations prevent prospective students and visitors from gaining a comprehensive
understanding of the campus environment. Additionally, staffing constraints often hinder the
institution's ability to offer personalized tours.
There is a need for an innovative, technology-driven solution that can:
Be available at all times
Provide consistent and informative campus tours
Improve accessibility
Showcase the institution's commitment to advanced technology
Address staffing challenges in delivering personalized tour experiences
6. Objective
To create a POC prototype of the car, which will be a smaller mobile version of the car. This
will be to form a baseline for any planned production models.
7. Methodology
1. Design the Hardware Model
Frame Design: Start with designing the body of the robot. Consider a
wheeled robot for ease of movement over flat surfaces, ensuring it is
sturdy but lightweight for campus navigation.
o Use CAD software to design the frame.
o Choose appropriate materials like aluminum or durable plastic to
balance strength and weight.
o Ensure the frame accommodates all sensors, the Raspberry Pi, and
other necessary components securely.
Motors and Wheels:
o Choose motors (likely stepper or DC motors) based on the robot's
weight and expected speed.
o Ensure the wheels provide adequate traction for outdoor and indoor
surfaces.
Power Supply:
o Select a battery system to provide enough power for extended tours
(e.g., 4-6 hours).
o Include a power management system for efficient energy usage and
safe recharging.
Sensor Placement:
o Attach a LIDAR sensor for 360-degree obstacle detection,
ensuring it is placed at an optimal height to detect obstacles.
o Place a GPS module on top of the robot for unobstructed satellite
connection.
o Include odometry sensors on the wheels for precise movement
tracking.
o Consider adding a camera for visual processing or feedback to
users.
2. Select and Integrate Electronic Components
Raspberry Pi: As the central processing unit, install a Raspberry Pi (e.g.,
Pi 4) with sufficient processing power and connectivity options.
Microcontroller: Consider integrating an additional microcontroller
(e.g., Arduino) to handle real-time control of motors, sensors, and other
components.
Motor Controller: Choose an H-Bridge or a motor driver to interface the
motors with the Raspberry Pi for direction and speed control.
Sensors: Ensure the LIDAR, GPS, and odometry sensors are compatible
with the Raspberry Pi and ROS.
3. Set Up the Software and Framework
Install ROS (Robot Operating System):
o Set up ROS on the Raspberry Pi for real-time sensor fusion and
processing. ROS will handle the integration of sensor data
(LIDAR, GPS, odometry) and control the robot’s motion.
Map Campus with GIS:
o Create a high-density GIS dataset with waypoints approximately 1
meter apart. This data will guide the robot on a human-friendly
path across campus.
o Use mapping software (e.g., QGIS) to plot these waypoints across
key landmarks.
Collision Avoidance:
o Implement a potential field algorithm for obstacle avoidance.
Waypoints should act as attractive forces, guiding the robot, while
the LIDAR sensors detect obstacles and generate repulsive forces.
Localization and Navigation:
o Use a combination of GPS for outdoor localization and odometry
to refine indoor or low-GPS signal situations.
o Ensure ROS handles smooth transitions between GPS data, LIDAR
inputs, and odometry for real-time navigation.
4. Develop Tour Logic
Predefine Tour Routes:
o Using the GIS data, define several tour routes across the campus,
ensuring that the waypoints lead to major landmarks and visitor
destinations.
User Interface: (tentative)
o Develop an intuitive user interface (on a tablet or smartphone) to
allow visitors or staff to start, pause, or end tours. The interface can
include route selection and progress tracking.
Tour Narration: (tentative)
o Implement audio narration or visual information systems to
provide guided explanations at each landmark.
o Add a speaker or screen for visitors to interact with, enabling real-
time feedback during the tour.
5. Test and Refine the Robot
Field Test:
o Test the robot in real-world conditions across the campus.
o Ensure that the LIDAR detects obstacles, that the robot follows the
waypoint-based paths, and that GPS accuracy is sufficient.
oTest indoor navigation where GPS signals are weak, relying on
odometry for precise localization.
Refinement:
o Calibrate the sensor inputs, improve the potential field algorithm,
and optimize waypoint spacing based on test results.
o Refine tour timing and path-following precision, ensuring smooth
and natural movement.
6. Deployment
Pilot Testing:
o Run several live tours with real visitors to ensure the robot
performs as expected.
o Gather feedback to adjust the tour logic, timing, and visitor
interactions.
Full Deployment:
o Once refined, deploy the robot as a permanent feature for campus
tours, ensuring it integrates with the campus visitor management
system.
8. References
Hoshino, S., & Maki, K. (2015). Safe and efficient motion planning of multiple
mobile robots based on artificial potential for human behavior and robot congestion.
Advanced Robotics, 29(17), 1095-1109.
https://doi.org/10.1080/01691864.2015.1033461
Kim, G., Chung, W., Kim, K.-R., Kim, M., Han, S., & Shim, R. H. (2004). The
Autonomous Tour-Guide Robot Jinny. In Proceedings of the 2004 IEEE/RSJ
International Conference on Intelligent Robots and Systems (pp. [specific pages if
available]). Sendai, Japan.
Tomatis, N., Philippsen, R., Jensen, B., Arras, K. O., Terrien, G., Piguet, R., &
Siegwart, R. (2002). Building a Fully Autonomous Tour Guide Robot: Where
Academic Research Meets Industry. In Conference Paper.
https://doi.org/10.3929/ethz-a-010098369