Design of Control Algorithms for Mobile Robots in an Environment with Static and Dynamic Obstacles

Abstract

This article proposes the construction of autonomous mobile robots and designing of obstacle avoidance algorithms for them. Nowadays, mobile robots are gaining more and more popularity on the customer as well as industrial market, for example as automatic vacuum cleaners or lawnmowers. Obstacle avoidance algorithms play an important role in performance of this types of robots. The proposed algorithms were designed for builds with rather not expensive electronic components, especially sensors with limited precision and dynamics. The project began with the selection of needed parts and building materials as well as designing of the PCB and assembling the whole construction. The project included also designing and developing the software responsible for, among others, implementation of obstacle avoidance algorithms. After the project’s completion, a series of tests in a closed environment was conducted to verify the quality of vehicles’ performance. Results of tests were positive.