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pdf book finder This is an always maintained routine to achieve simplicity in the route selection. The robots continue to go in the right direction until the current column number is matched with the input column number.

Development of a self-navigating algorithm for library book finder robot

Afterwards, if the required row number is 1 the robots goes right direction again from the current position Fig. If the required row number is greater than 1 it goes to left direction and pdf book finder until the current row number is equal to required row number Fig.

Straightening process As the robots starts moving it has to move forward in a straight manner pdf book finder sometimes may need to take turns.

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But in its way to the destination it can be deflected from the straight path and proceed towards the book shelf wall and collide. To avoid these situations a self-straightening process is included pdf book finder the algorithm.

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If one of the value is reducing in a significant manner it means the robot is stepping towards one side. One property of the ultrasonic sensor is it only detects the distance of an object that is normal to the sensor thrown sound waves.

So, if the one pdf book finder the corner sensors is detecting distance reduction, it means the robot is going in a tilted way from the straight path. The controller then turns the robot to come to the straight path by handling the wheel pdf book finder.


Turning To accomplish an accurate turn, all the sensors work simultaneously. When, the robot starts pdf book finder turn, the controller checks dL, dR, and dF values.


When the dF value starts increasing it means the robot is becoming straight. However, for turning in a particular direction the distance of the opposite side will be increasing gradually until entering in the path between pdf book finder shelves.

When robot enters in the path both the side sensors will have some values, by which the controller will be aware of the pdf book finder. If any overturning or less turning is occurred, the side sensors will be used to determine that condition.

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Then using the straightening algorithm, the robot will start to move in straight path again Fig. Laser pointing When the robot reaches the required row-column position it has one more task to do. There are two book shelves pdf book finder the left and right side of the robot for a particular row-column position.

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