RASPBERRY-PI BASED SEMI-AUTONOMOUS

ROVER FOR PRE-DEFINED NAVIGATION

PATH
Md. Noorjahan Syed. Nishath Samreen S. Saritha Kumari
UG student, Dept., of ECE, UG student, Dept., of ECE, UG student, Dept., of ECE,
G.Pullaiah College of Engineering and G.Pullaiah College of Engineering and G.Pullaiah College of Engineering and
Technology, A.P, India Technology, A.P, India Technology, A.P, India
[email protected] [email protected] [email protected]

S. Towseef Ahmed
Assistant Professor, Dept., of ECE,
G.Pullaiah College of Engineering and
Technology, A.P, India
Corresponding author:
[email protected]

Abstract— The Chandrayaan missions aim to study nearby functionality. [1] At the Interface Design Institute Ivrea in
Moon's composition, mineralogy, geologic evolution. Ivrea, Italy, Massimo Banzi et al., technologically advanced
Chandrayaan-1 and Chandrayaan-2 missions had their unique a concept for a accessible programmable method for
challenges and limitations. India's first lunar mission was communicating art proposal missions in 2005, illustrated as
Chandrayaan-1, it was launched in 2008. and did not include a in fig 1.
rover; instead, it carried an orbiter and an impact probe.
While it was successful in detecting water molecules on the
Moon, it failed prematurely after 10 months due to overheating
and communication issues. The 2019 launch of Chandrayaan-2
featured the rover Pragyan, which was intended to investigate
the lunar surface. However, software and trajectory issues
caused the lander, Vikram, to crash-land during its descent,
posing a serious threat to the project. The successful soft
landing of Chandrayaan-3, India's third lunar research
project, on the Moon's South Pole in 2023 marked a major
turning point in the country's space exploration endeavors and
provided important new information for lunar science. In
order to traverse from a source to a destination in a grid-based
system, we develop and construct a semi-autonomous rover in
this study that uses the A* traversing algorithm. The primary Fig.1.
objective of the rover is to autonomously create the optimal
path while dodging predetermined obstacles in its immediate Gadget required to be up-front, swift to attach and simple
environment. After providing the rover with the source and to program to a variety of components (including relays,
destination locations, the system employs the A* algorithm to motors, and sensors). To be affordable for artists and
determine the most efficient path based on a grid design. In students, it also had to be low-cost [2]. After introducing
order to avoid impediments and provide precise and secure certain of the principles of Arduino, electricity, and essential
navigation in changing terrain, the rover may alter its robot construction, we go straight into some of the
trajectory in real time. Results from tests indicate that the specialized interface duties required to finish the project.
rover can perform navigational tasks, demonstrating the Austin Hughes, initiated that to assist users in
practicality of the A* algorithm in everyday situations like comprehending and anticipating the operational features of
industrial automation, rescue operations, and autonomously motors and drives, as well as their effects on utility and load,
searching in limited spaces. information regarding the practical implications and
limitations of motors and drive systems has been improved.
Keywords—chandrayaan, pragyan, rover, A* algorithm,
The significance of stepper motors in accurate motion control
I. INTRODUCTION systems is emphasized in Stepper Motors Design. It draws
attention to their adaptability and wide range of uses in
The Raspberry Pi User Guide's third edition offers sectors like automation, instrumentation, and robotics. [3-4]
simple-to-follow directions to help you and your Pi get to According to the, Michael Margolis information given,
know one another. Install programs, configure your Arduino is a family of microcontrollers, or tiny computers,
Raspberry Pi, and connect it to other devices. To better and a software development environment that makes
comprehend terms and practices, learn the foundations of programming simple for creating interactive projects. Using
Linux system management. Make basic productivity and Arduino, users can write "sketches" (programs) that allow
multimedia applications using Python and Scratch. Use add- items to recognize and respond to a range of physical inputs,
ons like Arduino, Gertboard, and others to expand

XXX-X-XXXX-XXXX-X/XX/$XX.00 ©20XX IEEE

such as position, sound, touch, heat, and light.[5] Ionospheric creation, and disease diagnosis [11-13]. Position, navigation,
affects causes the performance of the Global Positioning and time computation in various engineering, scientific in
System (GPS) and its Space Based Augmentation System nature, and other applications across the Indian subcontinent
(SBAS) to decrease significantly in the equatorial low and the surrounding area will be facilitated by the recently
latitude zone. One of the main issues with GPS and satellite developed Navigation Indian Constellation (NavIC, which)
communication radio systems functioning at frequencies signal (L5-1176.45 MHz and S-2492.028 MHz) pseudo
smaller than 4GHz is ionospheric scintillation. range and carrier phase measurements[14].
IsidorBuchmann, in his research mentioned that no battery is
Simon included that Raspberry Pi programming with
ideal, because every pack is designed for a certain purpose.
Python is a beginner's manual that shows readers how to use
Consumer gadgets' batteries are designed to be small,
Python to configure and program the Raspberry Pi. Python
inexpensive, and have a long runtime; lifespan is not as
programming with an emphasis on real-world applications
crucial. Industrial batteries may be more reliable and have
and goes over the fundamentals of the Raspberry Pi,
higher load capacities, but the pack becomes larger. The
including installation and configuration. It contains practical
correlation between GPS-TEC variations and Ap-index,
applications like using the Raspberry Pi's GPIO pins to
Solar Flux (F10.7 cm), and Sun Spot Number (SSN) is
operate motors, sensors, and LEDs [15].
investigated. Based on the results, the TEC increases during
HSA (2014) than it are during LSA. In addition, it is worth II. LITERATURE SURVEY
noting that a connection between GPS-TEC, AP-index, and
F10.7 cm has been adversely affected by the increased solar Roland et al., [16] mentioned that an autonomous Mobile
activity. [6-8] Robots' conclusion emphasizes how building autonomous
systems is a multidisciplinary process that necessitates the
Charles Platt [9], mentioned that Electronics emphasizes smooth integration of technologies like perception, control,
how learning electronics through practical experience can be planning, and localization. Even while important fields like
liberating. It emphasizes that experimenting and curiosity are SLAM, path planning, and multi-robot cooperation have seen
essential to learning electronics and developing creative tremendous progress, there are still obstacles in the way of
ideas, and it invites readers to keep investigating and obtaining reliable and flexible autonomy in changing
expanding upon the fundamental knowledge acquired. settings. In the end of Mobile Robotics: A Practical
Scintillations may influence a Global Navigation Satellite Introduction, Ulrich Nehmzow [17] discusses the
System (GNSS) receiver's performance in several ways, from developments and potential of mobile robotics as a subject.
a decline in positioning accuracy to a total loss of signal lock. In order to create autonomous systems that can function in
Therefore, it can be helpful to detect and minimize real-world environments, he also emphasizes the importance
destructive ionospheric scintillation propagation of combining theoretical knowledge with practical
communicates for the purpose to maintain positioning experimentation. While emphasizing the value of learning,
services continuous interruption [10], as mentioned in fig.2 adaption, and high-fidelity simulation in enhancing robot
capabilities, he encourages continued study and
development. Derek Molloy concludes Investigating the
Raspberry Pi: Implementing Embedded Linux to Interact
with the Real World by emphasizing the potential of the
Raspberry Pi platform as a ground-breaking educational and
innovative tool. He highlights the need of learning Linux,
programming, and hardware interface in order to develop
adaptable, useful apps. The book bridges the gap between
hardware and software by combining theoretical concepts
with real-world activities, providing readers with the means
to construct complex systems. As ionospheric scintillations
of the signal could negatively impact the performance of
satellite-based navigation systems, including the Global
Positioning System (GPS). Modeling is required for
forecasting and foreseeing the ionospheric scintillation given
that it constantly changes with location as well as time. [18-
19].
Steven F. Barrett et al., [20], emphasize the usefulness
Fig.2. and educational potential of utilizing the Raspberry Pi
platform for robotics projects in the conclusion of, Building a
Since AMRs are designed to transport objects, this is a Raspberry Pi–Controlled Robot in fig.3. Author gives readers
reasonable and simple usage for them. The primary issue both fundamental knowledge and practical experience by
here is that AMRs need to be able to load and unload goods walking them through the process of creating, programming,
from and to shelves automatically. Although this may seem and managing robots.
like a simple process, it is actually a challenging operation.
AMR needs to be entirely cognizant of its surrounds and
things that it might be consuming. AI has proven to be more
challenging than many initially thought, and as a result,
contemporary concepts are far more complex, nuanced, and
captivating. Currently, artificial intelligence (AI) includes a
vast array of subfields, ranging from general-purpose
domains like vision and logical thinking to specialized
activities like chess play, mathematical theorem proof, poetry
 power and versatility to investigate robotics through step-by-
step projects, ranging from basic mechanisms to more
intricate autonomous systems. At the end of Artificial
Intelligence: A Modern Approach, Stuart Russell and Peter
Norvig highlight how AI has the potential to revolutionize a
variety of fields, from automation and robotics to healthcare
and more. As AI systems grow more ingrained in society, the
writers consider the opportunities and moral dilemmas
presented by the technology's quick development [29-30]. A
multi-frequency GNSS receiver and an anticipated TEC of
the ionosphere according to data from a typical day and were
Fig.3. used to build up an experimental setup for this objective.
Investigation of the data revealed that the GALILEO E08
For PVT uses, radio signals on a number of frequencies signal route, which had been received at an elevation angle of
have been constantly transmitted by the American Global 27o, had a greatest TEC (190.52 TECu). To solve
Positioning System, the Russian GLONASS, the European complicated, real-world problems, George F. Luger
Galileo, and the Chinese the BeiDou. Jayanta Das highlights highlights in the conclusion of Artificial Intelligence:
the capabilities and adaptability of the Raspberry Pi in the Structures and Strategies for Solution of complicated
field of robotics in the conclusion of Robotics with the Problems, the significance of comprehending both the
Raspberry Pi: Explore the World of Robotics with Raspberry theoretical and practical components of AI. [31-32].
Pi and Python. With the help of Raspberry Pi hardware and
Python programming. In Overview to Autonomous Robots: Dan O'Sullivan et al., [33], emphasize the value of search
Mechanism, Sensor, Actuator based Procedures, Bradley algorithms and heuristics in effectively resolving
Hayes and CorellNikolaus hassle about significance of complicated issues in the conclusion of, Search Algorithms
combining software and hardware within autonomous robot and Heuristics. They highlighted the need of using heuristics
design and control. From intricate algorithms to mechanisms and a variety of search tactics, including both informed and
and sensors, the book offers a thorough framework that uninformed searches, in order to maximize problem-solving
addresses all the important facets of robotics. Jean-Claude abilities. In order to provide readers a better grasp of these
Latombe emphasizes the intricacy and importance of motion methods' usefulness in domains like artificial intelligence and
planning in robotics in the conclusion of Robot Motion optimization, the authors urge them to use them in real-world
Planning and Control. The significance of comprehending situations.
both the theoretical and applied facets of robot motion, such To develop successful robotic systems, K.S. Fu, R.C.
as kinematics, dynamics, and control algorithms, is Gonzalez, and C.S.G. Lee [34], stress the significance of
emphasized throughout the text. Latombe emphasizes how combining control systems, sensing capabilities, computer
difficult it is for autonomous systems to navigate safely and vision, and intelligent algorithms in their conclusion to
effectively in real-world settings and how advanced planning Robotics: Control, Sensing, Vision, and Intelligence. The
and control strategies are required. GPS is a powerful and authors stress in their conclusion that continued
standardized satellite-based navigation system having advancements in these fields will lead to increasingly
numerous applications. Since it operates better and faster, it sophisticated and autonomous robots, making robotics an
is highly chosen. The arrangement of visible satellites limits essential field for future technological innovation and
the GPS system's accuracy, which is an essential concern for application. In the final section of Planning Algorithms [35],
PNT service to all dependents [21-25]. KCT Swamy et al., Steven M. LaValle emphasizes the significance of planning
[26], stated that wearable technology is being created to algorithms in a variety of fields, such as artificial
generate power due to continuous advances in technology intelligence, robotics, and control theory. LaValle concludes
and the use of complex techniques. The objective of their by emphasizing how important it is to continue researching
study is to obtain renewable energy from the environment and developing planning algorithms since advancements in
without experiencing any expenses or harming the this area will significantly impact the creation of intelligent
ecosystem. An essential human identifying tool is a systems..
fingerprint. An Arduino-based fingerprint voting mechanism
is provided by this project. As everyone is aware, elections
now use electronic voting machines that record votes
electronically and do away with the necessity for paper
ballots. The substantial improvements in spacecraft
navigation enabled by the fusing of multi-source information
are highlighted by Zheng Zhu and Shuang Li in the
conclusion of Spacecraft Autonomous Navigation
Technologies Established on Multi-source Data fusing.
Finally, by providing a thorough framework for creating and
executing cutting-edge navigation systems in space
exploration [27]. As Lentin Joseph highlights in the
conclusion of Robot Operating System (ROS) for Absolute
Beginners: Robotics Programming Made Easy, ROS is a
useful tool for both inexperienced and seasoned robot
engineers [28]. In RaspberryPi Robotic Missions, Richard
Grimmett highlights the Raspberry Pi's accessibility and
adaptability as a platform for creating a variety of robotic
systems. Author shows readers how to use the Raspberry Pi's
 III. METHODOLOGY  Start Process: System initialization and readiness.
A. System Architecture.  Run Program: The main program is executed on
the Raspberry Pi, enabling communication with the
With a quad-core 64-bit ARM and A53 CPU operating at 1.2 laptop via VNC Viewer.
GHz, the Raspberry Pi 3B model has a BCM2837 Broadcom,
 Optimal Path finding: The A* algorithm
1 GB LPDDR2 RAM, and a Video Core IV GPU for
multimedia processing. It stores data on a micro SD card and computes the shortest path while avoiding obstacles
has a wide range of connectivity choices, such as Ethernet (1 in the grid).
(10/100 Mbps), Bluetooth 4.1 BLE, Wireless-Fidelity  Rover Mobility: The rover begins at the source
(802.11 b/g/n), and four USB 2.0 ports. In addition to CSI point, following commands from the Raspberry Pi
and DSI interfaces for attaching cameras and displays, the to the Arduino UNO.
board features 40 GPIO pins for peripheral connections.  Reach Destination: The rover navigates the
Composite video, a 3.5mm connector, or HDMI are the
options for audio and video outputs. The Raspberry Pi can be optimal path, avoiding obstacles, and arrives at the
used for applications needing sophisticated processing and destination.
networking since it runs Linux-based operating systems like  Program Termination: The process concludes
Raspberry Pi OS and is powered by a 5V/2.5A micro USB. with the rover stopping.
B. Arduino UNO Board.  Stop Process: Marks the end of the operation.
 An ATmega328P microprocessor with an 8-bit clock As per Fig.4, which represents that when the instructions are
speed of 16 MHz, 32 KB of Flash memory, 2 KB of given from the laptop through wireless connection and
SRAM, and 1 KB of EEPROM are all features of the power supply, theRaspberry Pi gets activated and the signals
Arduino Uno. It features six PWM-capable digital input are given to the Arduino Uno. When the Arduino Uno is
and output pins, as well as six analog input pins for activated through power supply it gives instructions to
connecting to sensors and actuators. Interfaces for SPI,
I2C, and UART allow for communication. Motor Driver which controls the Johnson Motors.As per
Fig.5, which represents that when we run the program in
 The board has an on-board voltage regulator and may be
Raspberry Pi, based on the A* algorithm it finds the optimal
powered by a 5V USB connection or an external power
source between 7 and 12V. path by avoiding obstacles. After finding the path the
 A reset button allows hardware resetting, and mobility of the rover starts from the source and reaches the
programming is done using the Arduino IDE through a destination point by following the optimal path and by
USB Type-B connector. The Arduino Uno is ideal for avoiding obstacles. After that the program gets terminated.
real-time control applications and direct hardware
manipulation. F. Flow chart
C. System Design and Connections. Start
The semi-autonomous rover is designed with a modular
architecture comprising computational, control, and
mechanical components. The Raspberry Pi 3B acts as the Run the program in Raspberry pi
central processing unit, executing the A* algorithm and
managing communication with the Arduino UNO, which
controls the rover's movement. A VNC Viewer connection
Finding the optimal path by avoiding the
allows remote execution of the algorithm from a laptop. The
obstacles in the grid system
rover’s mobility is driven by Johnson motors controlled via
an L298N motor driver, and the rocker-bogie mechanism
ensures stability on uneven terrains. Dual batteries—5V for
the Raspberry Pi and Arduino UNO, and 12V for the motors Rover mobility starts from source point
—power the system, enabling seamless operation and
obstacle avoidance in grid-based navigation.
D. Block Diagram.
Reaches destination point following optimal path
by avoiding the obstacle

Program terminated

Stop
Fig.4. Rover block diagram illustrated
Fig.5.Flow chart description related to working of a Rover

IV. RESULTS AND DISCUSSION

E. Algorithm The semi-autonomous rover was successfully evaluated
in a grid-based matrix environment, demonstrating the
effective application of the A* algorithm for path finding. unexpectedly.The rocker-bogie suspension system allowed
The rover was able to compute the shortest route the rover to move smoothly and steadily, making it possible
commencing the starting point to the endpoint while avoiding
to go across rough terrain with ease. When used in
both static and dynamic obstacles marked in the grid. The
algorithm executed path finding tasks with an approximate conjunction with Johnson motors, the L298N motor driver
computation time of 1.5 to 2 seconds for a 10x10 grid. ensured dependable movement on a variety of surface types
by operating efficiently under a range of load circumstances.
With real-time connection between the Raspberry Pi,
Arduino UNO, and laptop, system integration was smooth
and control commands could be executed precisely. The
continuous running of the rover during the testing was
supported by the dual power supply system, which included
both 5V and 12V batteries to provide constant and
Fig.6.Real time working of a Rover in different cases dependable power delivery.

As per Fig.6, this represents that when the rover is tested

in different conditions i.e, both on the soft and the hard
surface it performs excellent with the success rate of 95%.Its
rocker-bogie mechanism helps in the stability on the uneven
surfaces. The rover is able to find the optimal and shortest
path to reach its destination without any difficulties.

Fig.8. Path finding in a Grid-Based Environment using A* Algorithm

Discussion
Using the A* method, which effectively calculates optimal
pathways while avoiding both static and dynamic
impediments, the findings validate the semi-autonomous
rover's ability to navigate a grid-based matrix. The
Fig.7.Circuit connection using raspberry-Pi and its final layout. advantages of a modular design approach were highlighted
by the seamless interaction between system components
As per Fig.7, which represents the circuit connections using made possible by the integration of the Arduino UNO for
Raspberry Pi and Arduino Uno, Based on the circuit control operations and the Raspberry Pi for computing
diagram and the A* algorithm it becomes easier for the duties. The rover's capacity to remain stable across uneven
rover to find the optimal path and to reach its destination by terrain and adapt to a range of real-world conditions was
avoiding obstacles. This design enables effective obstacle largely due to the rocker-bogie suspension system, but
avoidance and is adaptable in different conditions. The rover bigger grid sizes (10x10 grids, for example) were shown to
demonstrated excellent obstacle avoidance capabilities, cause computational delays, indicating the need for more
successfully navigating around all static obstacles and algorithm execution optimization to improve scalability and
maintaining a continuous, obstacle-free path. In dynamic performance in bigger contexts. This rover offers a reliable
obstacle avoidance tests, the rover exhibited a 95% success solution for grid-based navigation and obstacle avoidance
rate.Fig.8 shows the grid based pathfinding when compared to other autonomous navigation systems of
a similar nature. This study shows that combining modular
Elements in the Grid: components for autonomous navigation is feasible, laying
Grid Structure: The grid structure consists of equally sized the groundwork for further investigation and possible real-
cells, arranged in rows and columns. world applications in fields including environmental
Source (S): Marked at the top-left corner, it is the starting exploration and industrial automation.
point of the path.
Destination (D): Located at the bottom-right corner, it CONCLUSION.
specifies the target to which we should reach.
This research successfully illustrated how a semi-
Obstacles (⊗): Those cells are marked with an "X" (or a autonomous rover can navigate a grid-based environment by
similar symbol), representing areas of prohibitive using the A* algorithm to select the best path and avoid
movement. obstacles. The system operated well because to the
Path (Red Line): The red-dotted or colored line indicates the integration of parts like the Raspberry Pi, Arduino UNO, and
path computed from S to D avoiding obstacles. The rover other supporting gear, which allowed for accurate control and
simply follows the predetermined course that has previously real-time communication. The rover's capacity to find the
been provided; it does not notice any obstacles. shortest route and avoid obstacles confirms the reliability of
the suggested method, thereby accomplishing the project's
These results suggest that the system can maintain reliable
goals.
navigation in environments where obstacles may appear
 This work establishes a solid basis for future Chapters on path planning and the A* algorithm for navigation,
advancements in autonomous navigation systems. But adding 2011.
cutting-edge sensor technologies, like LiDAR or depth [17]. Ulrich Nehmzow, ‘Mobile Robotics: A Practical Introduction’,
cameras, might enhance the rover's capacity to recognize and Springer, 978-1-4471-5600-5, Focused sections on navigation
react to changes in its surroundings. Additionally, integration systems and environment mapping, 2003.
of dynamic re-planning algorithms could further refine the [18]. Derek Molloy, ‘Exploring Raspberry Pi: Interfacing to the Real
rover’s performance in dynamic environments. Future work World with Embedded Linux’, Wiley, 978-1-118-92298-5, Pages
may involve the exploration of multi-agent coordination for 350-375, 2016.
larger grids or incorporating real-time environmental [19]. Swamy, K C T, Sarma, A D, Reddy, A Supraja, Srinivas, V
updates, which would improve the system’s ability to handle SatyaRao, P V D Somasekhar, Modelling of GPS signal
dynamic changes effectively. These advancements could lead scintillations with polynomial coefficients over the Indian region,
to more robust, scalable solutions for autonomous navigation IJRSP, Vol.42(3), pages 167-174, June 2013.
in complex environments. [20]. Steven F. Barrett, Timothy L. W., ‘Building a Raspberry Pi–
Controlled Robot’, Pearson, 978-0-13-421555-1, Pages 65-95,
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