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BuildingaFullyAutonomous                HostelGuideRobotKimJongbooAbstractThispaperpresentstheeffortthathasbeenundertakenindesigningsoftwareforafullyautonomousnavigatingvehicleaimedforahostelguideapplication.ThisrobotbasesontheRobotKim.Thechallengeforsuchaprojectistocombinehighqualityroomservicewithtechniquesformobilerobotnavigationandinteractionwhicharecurrentlybestavailableinacademicresearch.IntheInternet,IfoundsomuchinformationabouttheGuideRobot,manyenterprisewhichaimstohelptakingrobotsoutoftheuniversityofficesandputtingthemintoreal-worldapplications.ThegoaloftheprojectistomaximizetheautonomyandinteractivityofRobotKimwhileensuringrobustness,reliabilityandperformance.Theresult,aninteractivemovingmachinewhichcanoperateinhumanenvironmentsandinteractbyseeingobstacle,showingiconsandbuzzerreminding.Keywords:guiderobot;traceline;interaction;avoidobstacle1. IntroductionAhostelguiderobothastobeabletomovearoundautonomouslyintheenvironment.Ithastointeractwithguestefficientlyinordertofulfillitsmaingoal:givethevisitorsthepre-definedroomnumber.Theenvironmentisknownandaccessible,butageneralapproachrequiringnoenvironmentalchangesisbettersuitedforacommercialproduct.Forthesamereasonafully-autonomousandrobotispreferable.Furthermoresuchamachineisrequiredtohavealonglivecycleandahighmeantimebetweenfailure,whichminimizestheneedofhumansupervision,butbecauseofthelimitofthetimeandotherreasons,maybesomeaspecthasn’tbeenperfectyet,IhopeIcanconsummateitinfuture.Andnow,thisrobothasthefollowingfunctions:◆Therobotwillguidetheguesttotheroomwhichtheguestchoosethroughthekeys,andtheroomnumberwilldisplaythroughthe7-segmentLED.Therobotwilltracetheblacklinebelowhim.◆Whengettotheroom,therobotwillremindtheguestthroughthebuzzer,thenhewillreturntothepointofdeparture.◆Whentherobotsensetheobstacleinfrontofhim,hecanavoidit.2. RelatedWorkThesystempresentedhereisdesignedtoofferenhancedinteractivityandautonomousnavigationwithacompletelyself-containedrobotandwithoutrequiringchangesoftheenvironment.Furthermoreitisintendedtoworkpermanentlywithminimalsupervision.Soinordertofullfillthefunctionsinthelimitspacesandtime,themapisverypivotal.Thedesignedmaplikethefollowingfigure:Thismaphasfourrooms,fourcrossing,inthe‘A’and‘B’,wecanputtheobstacleintothem.Weputtherobotinthe‘start’point,thenchoosethenumberoftheroom(1--4),therobotwillgototherelevantroom.Eyeryroomhastheitowndirectionmarknumber(1meansgostraight,2meansturnleft,3meansturnright,4meansgoback).Forexample,aguestwanttogotoroom3,so,hechoosethekey3intherobot,then,therobotwillleavethestartpoint,whenhegettothefirstcrossing,hecontinuestogostraightup,wemarkthisdirectionthenumber1;whenhegettothesecondcrossing,turnright,wemarkthisdirectionthenumber3;whenhegettothethirdcrossing,turnright,wemarkthisdirectionthenumber3;whenhegettotheroom3,stop,wemarkthisactionthenumber4;whenhereturnstothestartpoint,wecanusethisprinciplemarkingthedirectionnumber 2,2,1,4.Sothenumberarray—[1,3,3,4,2,2,1,4]isthe‘path’whichtherobotmusttracetogototheroom3.Thehighlydynamicenvironmentandtherequestedvisitorexperienceexpectedforsuchaproductimposevariousconstraintsontherobotdesignandcontrol.Butthemap(Figure1)canhelptherobotfinishhistestmoreeasier.Wecanrecordthedifferent‘path’ofthedifferentroom,thentherobotdownloadthe‘path’withtheprogramintohisflash.3. ProductDesignGivenspecificationsthemechanical,electronicandsoftwaredesignarenowpresented.. MechanicalDesignThisrobotbasesontheRobotKim.Heiscomposedoffiveboards.TwoDCmotordrivetomove.WecanfindtheidiographicdataofthisrobotfromtheintroductionoftheRobotKim.Figure2:RobotKimFigure3:configuration ElectronicDesignThemicrochiponthemainboardisATMEGA128.Itisalow-powerCMOS8-bitmicrocontrollerbasedontheAVRenhancedRISCarchitecture.Byexecutingpowerfulinstructionsinasingleclockcycle,theATmega128achievesthroughputsapproaching1MIPSperMHzallowingthesystemdesignertooptimizepowerconsumptionversusprocessingspeed.ThismicrochipwillutilizethePORTA—Fcontrolthekey,theled,thebuzzer,thePhototransistorsensormoduleandtheDCmotordrivermodule.Wecanfindthehardware’sconfigurationintheaddenda.Figure4:Simpleschemeoftheelectricaldesign SoftwareDesignAsexplainedinthesectionabove,therobotiscomposedofmicrochipAtmega128andothermodules.Thesoftwarehasbeenfirstlydesignedwithouttakingintoaccountthisfact.ThefollowingFigureisthesystem’sflowchart:Figure5:flowchart4. ApplicationSoftwareInthissection,theresearchrelevanttechniquesimplementedonRobotKimarebrieflypresented.Thebasicapplicationofsoftwarewillbegiven. TracelineThethreesensorsbelowtherobotkeepdetectingtheblacklineontheground.Thecentersensordetectstheblacklinewhiletheothertwosensors(rightandleftsensor)detectwhitearea,thecenterreceptorwillnotgetthereflex.Duringthetimeofmoving,thethreesensorsmustkeepthisstatusalltime.Onlyso,therobotcantracestheaccurateway. ObstacleAvoidanceWhenthefrontsensorofthethreesensorsonthetopoftherobotdetecttheobstacleinfrontofitem,thedistancevaluewillbechangedintothevoltagevaluethroughtheADconverter.Accordingasthevoltagevalue,therobotwillchanghismovingdirectionforavoidingthebostacle.Firstly,heturnleftinsomeangle,secondly,whentherightsensordetecttheobstacleinsomedistance,therobotwillturnright,atlasttherobotkeepgoinguntiltherobotfindstheblacklineandtracestheline. LocalizationTherobotfirstdownloadthedirectionmarknumber,andhewillfollowthenumbertomovetotheroomwhichtheguestchooses.Thediffultinthisapplicationishowlettherobotknowsthathehasalreadygottoacrossing.So,Idrawablackroundinthecrossing,whentherobotgettothiscrossing,allofhissensorswhichbelowhimwilldetecttheblackline,andnowtherobotknowsthathehasreachedacrossing. InteractionAwarenesshasbeenfoundasoneofthemostrelevantcharacteristicforman-machineinteractionforthehuman.ThisRobotmustlettheguestoperatesitmoreeasier.ThepurposeusethebuzzerandtheLEDinthissystemisthattheywillgiveguestmorebenfit.Eventheuntrainedusercanuseitasconvenientaspossible.5. SystemDevelopmentFirst,wecanaddtheLCDmoduletothissystem,itcangivetheRobotafriendlyoperationinterface.Second,wecanaddtheAudiomoduletothissystem,itwillmaketheRobotmorehumanistic.Hecantalkwiththehuman,explainsomethingtotheguest.Ifhehasthe‘arm’,hecanhelptheguestcarrythebaggage.6. ConclusionInthenewcentury,AIisbecomingmoreandmoreimporant.Therobottechniqueisarepresentativeinthisarea.SoImadeaprojectaboutthis,wecanextendhisfunction.Wecanuseitinthemuseum,restaurant,factory,eveninotherplanet.Inaword,human’simaginationisendless,ScienceandTechnologypromotescivilization.