Document Type



Master of Science (MS)


Electrical Engineering

First Advisor's Name

Armando Barreto

First Advisor's Committee Title

Committee Chair

Second Advisor's Name

Malek Adjouadi

Third Advisor's Name

Subbarao V. Wunnava

Date of Defense



This project involved the design, implementation and testing of a multi-directional range measurement system for indoor applications, as an independent sensing module for a navigational tool for blind individuals. The system provides real-time distance measurements to the closest surrounding obstacles in six radial directions, and a North direction indication. Custom hardware and software were developed to interface six ultrasonic ranging modules and a digital compass to a PIC16F77 microcontroller. A multi-directional range measuring technique appropriate for this setup was identified experimentally. The final product of this project is a navigational instrument integrating the custom hardware and software, a portable PC, six ultrasonic range sensors and a digital compass. The thesis provides details about the components selected for the system, the design philosophy, the system hardware and software, and the test procedures followed to evaluate the performance of the overall system.




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