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,
[Link] College of Engineering and [Link] College of Engineering and [Link] College of Engineering and
Technology, A.P, India Technology, A.P, India Technology, A.P, India
noorjahanmd30@[Link] muskanowaishaji@[Link] sarithakumari588@[Link]

S. Towseef Ahmed
Assistant Professor, Dept., of ECE,
[Link] College of Engineering and
Technology, A.P, India
Corresponding author:
towseef.453@[Link]

Abstract— The Chandrayaan missions aim to study nearby ons like Arduino, Gertboard, and others to expand
Moon's composition, mineralogy, geologic evolution. functionality. [1] At the Interface Design Institute Ivrea in
Chandrayaan-1 and Chandrayaan-2 missions had their unique Ivrea, Italy, Massimo Banzi et al., technologically advanced
challenges and limitations. India's first lunar mission was a concept for a accessible programmable method for
Chandrayaan-1, it was launched in 2008. and did not include a communicating art proposal missions in 2005, illustrated as
rover; instead, it carried an orbiter and an impact probe. in fig 1.
Success was achieved in the detection of water molecules on the
Moon, but in the project that spanned over ten months of
operation, the orbiter had to suffer from failure due to
overheating and communication problems. Launched in 2019,
the Chandrayaan-2 mission included the Pragyan rover,
planned for exploring the lunar surface. Unfortunately, the
Vikram lander suffered considerable damage during descent
from software and trajectory errors, putting the entire mission
at jeopardy. The successful soft landing of Chandrayaan-3,
India's third lunar research project, in 2023 at the Moon's
South Pole drove a momentous turning point for the nation's
space exploration endeavors and yielded vital new information
for lunar science. To this end, we have developed a semi-
autonomous rover that employs the A* path finding algorithm
to navigate in a grid-like environment. The major aim, Fig.1. Model representation
therefore, is for the rover to autonomously plan the best route
while avoiding obstacles that were specified in advance. After Gadget required to be up-front, swift to attach and simple
setting the locations of the rover's source and destination, the to program to a variety of components (including relays,
current system uses the A* algorithm to find the most efficient motors, and sensors). To be affordable for artists and
path in a grid-like representation. Real-time modifications of students, it also had to be low-cost [2]. After introducing
its trajectory allow the rover to circumvent obstacles and certain of the principles of Arduino, electricity, and essential
navigate accurately and safely in an ever-changing robot construction, we go straight into some of the
environment. Test results show the ability of the rover to specialized interface duties required to finish the project.
perform tasks related to navigation, thus proving the Austin Hughes, initiated that to assist users in
applicability of the A* algorithm in real-life situations such as comprehending and anticipating the operational features of
industrial automation, rescue operations, and autonomous motors and drives, as well as their effects on utility and load,
exploration in confined 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-

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

items to recognize and respond to a range of physical inputs, activities like chess play, mathematical theorem proof, poetry
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. Rover with manipulator 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
 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. Rover without a manipulator design for obstacle detection 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 In their summary of Robotics: Control, Sensing, Vision, and
as kinematics, dynamics, and control algorithms, is Intelligence, Gonzalez and C.S.G. Lee [34] emphasize the
emphasized throughout the text. Latombe emphasizes how importance of combining control systems, sensing
difficult it is for autonomous systems to navigate safely and capabilities, computer vision, and intelligent algorithms. In
effectively in real-world settings and how advanced planning their conclusion, the authors state that continuous
and control strategies are required. GPS is a powerful and development in these fields will give rise to increasingly
standardized satellite-based navigation system having more sophisticated and autonomous robots, making robotics
numerous applications. Since it operates better and faster, it a critical field for future technological innovation and
is highly chosen. The arrangement of visible satellites limits application. Steven M. LaValle in the concluding section of
the GPS system's accuracy, which is an essential concern for Planning Algorithms [35] mentions the significance of
PNT service to all dependents [21-25]. KCT Swamy et al., planning algorithms in the various fields of artificial
[26], stated that wearable technology is being created to intelligence, robotics, and control theory. He further
generate power due to continuous advances in technology intensifies the argument of needing to pursue more work on
and the use of complex techniques. The objective of their planning algorithms because the developments in the subject
study is to obtain renewable energy from the environment will have an enormous effect on creating intelligent systems.
without experiencing any expenses or harming the
ecosystem. An essential human identifying tool is a
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
A quad-core 64-bit ARM and A53 CPU at clocked of 1.2 laptop via VNC Viewer.
GHz assists the Raspberry Pi 3B model with BCM2837
 Optimal Path finding: The A* algorithm
Broadcom and 1 GB LPPDR2 RAM and a GPU called Video
Core IV for multimedia processing. Data is stored on a micro computes the shortest path while avoiding obstacles
SD card, and the connectivity options are extensive, (1 in the grid).
including Ethernet (10/100 Mbps), Bluetooth 4.1 BLE,  Rover Mobility: The rover begins at the source
Wireless Fidelity (802.11 b/g/n), and four USB 2.0 ports. point, following commands from the Raspberry Pi
Besides CS and DSI interfaces for attaching cameras and to the Arduino UNO.
displays, the board has 40 GPIO pins for peripheral  Reach Destination: The rover navigates the
connections. Audio video output can be done either through
composite video, a 3.5mm jack, or HDMI. Raspberry Pi can optimal path, avoiding obstacles, and arrives at the
be used for heavy processing applications in networking, as it destination.
runs on Linux-based operating systems such as Raspberry Pi  Program Termination: The process concludes
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.
 The microprocessor ATmega328P clocked at 16 MHz As per Fig.4, which represents that when the instructions are
and specifically with an 8-bit architecture drives the given from the laptop through wireless connection and
wonderful Arduino Uno, whose special features include power supply, theRaspberry Pi gets activated and the signals
32 KB of Flash memory, 2 KB of SRAM, and 1 KB of are given to the Arduino Uno. When the Arduino Uno is
EEPROM memory. It has six digital input/output pins activated through power supply it gives instructions to
with PWM outputs and six analog input pins. Contact
outputs include SPI, I2C, and UART. Motor Driver which controls the Johnson [Link] per
 Power is from a USB connection (5V) or any external Fig.5, which represents that when we run the program in
voltage source from 7V to 12V through an on-board Raspberry Pi, based on the A* algorithm it finds the optimal
regulator. path by avoiding obstacles. After finding the path the
 There is a reset option for hardware reset while mobility of the rover starts from the source and reaches the
programming can be done through the USB Type-B destination point by following the optimal path and by
connector using the Arduino IDE. The Arduino Uno is avoiding obstacles. After that the program gets terminated.
suitable for real-time control applications and timely
manipulation of hardware. F. Flow chart
C. System Design and Connections. Start
The semi-autonomous rover architecture has been
designed in a modular way to accommodate its
computational, control, and mechanical components. The Run the program in Raspberry pi
Raspberry Pi 3B acts as the central processing unit and
executes the A* algorithm while managing communication
with the Arduino UNO in charge of moving the rover.A
Finding the optimal path by avoiding the
VNC Viewer connection allows remote execution of the
obstacles in the grid system
algorithm from a laptop. The 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 Rover mobility starts from source point
Arduino UNO, and 12V for the motors—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 [Link] chart description related to working of a Rover

IV. RESULTS AND DISCUSSION

The semi-autonomous rover was successfully evaluated
E. Algorithm in a grid-based matrix environment, demonstrating the
effective application of the A* algorithm for path finding. [Link] 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
[Link] 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
The results validate the semi-autonomous rover's navigation
capabilities across an optimal grid-based matrix, operated
under the A* method that calculates the best paths while
avoiding both static and dynamic obstructions. The
[Link] connection using raspberry-Pi and its final layout. combined control operations by the Arduino UNO and
computing operations by the Raspberry Pi also served to
As per Fig.7, which represents the circuit connections using underscore the advantages of modular design, given the
Raspberry Pi and Arduino Uno, Based on the circuit seamless interchangeability of system components. The
diagram and the A* algorithm it becomes easier for the rover's stable movement over varied terrain and resilience in
rover to find the optimal path and to reach its destination by real-life conditions were primarily made possible by the
avoiding obstacles. This design enables effective obstacle rocker-bogie suspension system; however, it was seen that
avoidance and is adaptable in different conditions. The rover for larger grid sizes, like in 10x10 grids, computational
demonstrated excellent obstacle avoidance capabilities, delays would arise, pointing towards a need for more
successfully navigating around all static obstacles and optimization of algorithm execution for scaling and
maintaining a continuous, obstacle-free path. In dynamic improved performance within larger domains. When
obstacle avoidance tests, the rover exhibited a 95% success considered against other autonomous navigation systems of
[Link].8 shows the grid based pathfinding a similar context, this rover stands to be a robust solution for
grid-based navigation and obstacle avoidance. This research
Elements in the Grid: demonstrates the feasibility of mixing the modularized
Grid Structure: The grid structure consists of equally sized components for autonomous navigation—laying the
cells, arranged in rows and columns. foundation for future studies and real-world applications in
Source (S): Marked at the top-left corner, it is the starting domains such as environmental monitoring and
point of the path. industrial automation.
Destination (D): Located at the bottom-right corner, it CONCLUSION.
specifies the target to which we should reach.
By successfully demonstrating how a semi-autonomous
Obstacles (⊗): Those cells are marked with an "X" (or a rover could navigate a grid-based environment by employing
similar symbol), representing areas of prohibitive the A* algorithm to find the best path and avoid obstacles,
movement. this research was successful in its aims. The good working
Path (Red Line): The red-dotted or colored line indicates the mechanism was on account of integration of components
path computed from S to D avoiding obstacles. The rover such as Raspberry Pi, Arduino UNO, and other auxiliary
simply follows the predetermined course that has previously equipment for precise controls and real-time communication.
been provided; it does not notice any obstacles. The robot's ability to find the shortest way while avoiding
obstacles proves the viability of the proposed method,
These results suggest that the system can maintain reliable
fulfilling the objectives of the project.
navigation in environments where obstacles may appear
 This work represents a solid moment upon which to step [16]. Roland Siegwart, Illah R. Nourbakhsh, and DavideScaramuzza,
into future improvement of autonomous navigation systems. ‘Autonomous Mobile Robots’, MIT Press, 978-0-262-01535-6,
However, integrating advanced sensor technologies like Chapters on path planning and the A* algorithm for navigation,
LiDAR or depth cameras could further be supported by 2011.
improving the ability of the rover for recognizing and [17]. Ulrich Nehmzow, ‘Mobile Robotics: A Practical Introduction’,
reacting to alterations in its environment. Moreover, Springer, 978-1-4471-5600-5, Focused sections on navigation
incorporating dynamic re-planning algorithms would further systems and environment mapping, 2003.
optimize the rover's performance in dynamic environments. [18]. Derek Molloy, ‘Exploring Raspberry Pi: Interfacing to the Real
Future proposals could then examine the possibilities of World with Embedded Linux’, Wiley, 978-1-118-92298-5, Pages
multi-agent coordination for larger grids or incorporate 350-375, 2016.
updates on the real-time environment, thus improving the [19]. Swamy, K C T, Sarma, A D, Reddy, A Supraja, Srinivas, V
ability of the system to handle dynamic changes effectively. SatyaRao, P V D Somasekhar, Modelling of GPS signal
These advancements could lead to more robust and scalable scintillations with polynomial coefficients over the Indian region,
solutions for autonomous navigation in IJRSP, Vol.42(3), pages 167-174, June 2013.
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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