Research Publications

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Open Access
Human Following Robot
(Sri Lanka Institute of Information Technology, 2023-03-25) Batheegama, M; Mendis, A; Jayawardena, M
The main purpose of this project is to develop a robot that can follow a human to help their activities easy in a well-planned manner. The first implementation of this project is to detect a human and follows the human in a single human environment. The last implementation is to upgrade this into a robot that can detect humans in a busy environment. When designing a robot to work as a human follower it must fulfill some requirements. The issues which are more focused to resolve in here are, the size and mobility while tracking the humans and obstacle detection of the robot. There are many human assistant robots that manufacture small scale in size, but they are not capable of well-assistance and also most of the physically large robots find it hard to assist and handle some activities. Most of the humans following robots are designed for single work, therefore people tend to spend more money on buying robots to fulfill various work. Usually, the components that are used to develop human detection robots are expensive and it is one of the reasons why these types of assistants are expensive. Here, one of the problems which is mobility of the robot while tracking was resolved by developing a more suitable structure, improving the motor-control method, and adding a step-climbing mechanism to the robot. As the robot is manufactured to follow a human, a method to identify a human using image processing is implemented. Also, a method of detecting the position of human is also implemented. And also, the power plan design and all the electronic developments including the power supply unit development and also the power level checker as well has been implemented. Finally in order to make it less complex the circuit has made on PCB.
Open Access
A QUADCOPTER WITH AUTOMATED TAKE-OFF AND LANDING ON MOBILE ROBOT PLATFORM
(SHEFFIELD HALLAM UNIVERSITY ENGINEERING PROGRAM, 2016-12) Sandaruwan, B. A. S; Mithun, S; Rathnayake, R. M. K. M; Liyanage, M. H
In this thesis, a controller is designed for an off the shelf quadcopter to give it the ability to autonomously takeoff, hover at a given altitude, follow and land on a mobile robot platform. This is a small part of a much bigger system which is a quadcopter and a mobile robot combined fully autonomous surveillance system. This system has the ability to navigate and complete a given task without any human interaction. Different types of sensor are used to determine the position of the quadcopter in 3D space. A PID controller is implemented to keep the quadcopter at a given altitude. Different types of sensors and technologies were used to achieve our target. A discrete PID controller will be used to hold the altitude of the quadcopter. Real-time image processing is used to determine the position of the quadcopter relative to the mobile robot platform. An ideal quadcopter simulation and a 3D simulation of the task is done to understand in detail how a quadcopter works and how to controller it the way we desire. Kalman filter is used to produce accurate and precious angular data of the quadcopter. The project is separated into several parts and divided among all the members of the group. The simulation of the complete system and the implementation of the takeoff, altitude holding and landing algorithms for the test system are done by me. Determining the position of the quadcopter using image processing and design and implementation of the Mobile robot platform is done by Rathnayake R.M.K.M. Implementation of Kalman filter to be used with Gyro and accelerometer sensors and the simulation of an ideal quadcopter model in Matlab is done by S. Mithun.

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