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IMU Aided GPS Based Navigation of Ackermann Steered Rover

Author

Listed:
  • Muhammad Sufyan Arshad

    (School of Electrical Engineering and Computer Science, National University of Sciences and Technology, Islamabad, Pakistan.)

  • Ijlal Hussain

    (Department of Electrical Engineering, Institute of Space Technology, Islamabad, Pakistan.)

  • Abdur Rahman Maud

    (Department of Electrical Engineering, Institute of Space Technology, Islamabad, Pakistan.)

  • Moazam Maqsood

    (Department of Electrical Engineering, Institute of Space Technology, Islamabad, Pakistan.)

Abstract

GPS signal loss is a major issue when the navigation system of rovers is based solely on GPS for outdoor navigation rendering the rover stuck in the mid of the road in case of signal loss. In this study, a low-cost IMU aided GPS-based navigation system for Ackermann Steered mobile robots is presented and tested to cater to the issue of GPS signal loss along. GPS path is selected and fed using the android application which provides real-time location tracking of the rover on the map embedded into the application. System utilizes Arduino along with the node MCU, compass, IMU, Rotary encoders, and an Ackermann steered rover. Contorller processes the path file, compares its current position with the path coordinates and navigates using inertial sensor aided navigation algorithm, avoiding obstacles to reach its destination. IMU measures the distance traveled from each path point, and in case of signal loss, it makes the rover move for the remaining distance in the direction of destination point. Rover faced a sinusoidal motion due to the steering, so PID was implemented. The system was successfully tested on the IST premises and finds its application in the delivery trolley, institutional delivery carts, and related applications.

Suggested Citation

  • Muhammad Sufyan Arshad & Ijlal Hussain & Abdur Rahman Maud & Moazam Maqsood, 2022. "IMU Aided GPS Based Navigation of Ackermann Steered Rover," International Journal of Innovations in Science & Technology, 50sea, vol. 4(5), pages 24-38, june.
    • Handle: RePEc:abq:ijist1:v:4:y:2022:i:5:p:24-38
    DOI: 10.33411/IJIST/2022040503
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    More about this item

    Keywords

    Autonomous navigation of Rover; GPS; IMU; User interactive Navigation; Location tracking and monitoring;
    All these keywords.

    JEL classification:

    • R00 - Urban, Rural, Regional, Real Estate, and Transportation Economics - - General - - - General
    • Z0 - Other Special Topics - - General

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