Published Paper Details:

Autonomous robotic mapping has led us to places well beyond our reach, places where human expeditions are too dangerous, technically challenging, or too expensive. The robot collects data from its surroundings and also builds a 3D map, which it will use in real-time to move around thus making it autonomous. The user in real-time will also receive the data retrieved by the robot. The HCSR-04 ultrasonic sensor connected to the Arduino board is controlled and a pulse of the ultrasonic wave is sent. The sensor then listens for any reflected wave that might come back from an obstacle. The Arduino notes this time interval between pulse sent an echo received and calculates and stores this data. It also stores at what angle this data was recorded and then commands. The board makes the servo increment of 1 degree from 0 to 180 and back to 0 continuously in a loop while simultaneously recording ultrasonic data in centimeters. This data is sent over to the serial port and is picked up by the processor software and after further processing, it plots and updates the RADAR plot. the servo to move to the next position. The data is retrieved from the system using the Arduino software and relayed to MATLAB to make the plotting. Real-time data is shown as a moving graph on Processing IDE, which is linked with the Arduino Uno.