<title>Mobile robot navigation sensors</title>

Abstract

In this paper the different mobile robot navigation systems developed by Denning are presented. They include the Beacon Navigation System (BNS), the Ultrasonic obstacle avoidance and navigation system and the Laser Angular Navigation System (Lasernav). The infrared Beacon Navigation System was designed for navigation in long corridors (up to 500 ft.), docking procedures and position calibrations. The ultrasonic array sensors provide range information on the environment. The ultrasonic ranging system was designed as a navigation device based on natural landmarks and as a navigation aid when avoiding obstacles. The scanning laser device is a real-time embedded sensor for measuring precisely the position (+/- 1 inch) of mobile robots in large open areas (30,000 square feet). This system uses a scanning laser beam in combination with wall mounted targets to compute the position of the robot.