A navigation methodology of an holonomic mobile robot using optical tracking device (OTD)

摘要

The main task of a mobile robot is to perform navigation and positioning. Common mobile robot which employs line tracking system can only work on pre-constructed track where else infrared guided robot only can work within infrared's line of sight. In addition to that, the wheel driving system of the mobile robot plays a vital role in allowing the robot to navigate along a limited direction depending on its wheel architecture. To steer a robot in any direction and to know its precise location in the environment is the ultimate goal of mobile robot navigation. To achieve this, a methodology is laid out in this paper. An Optical Tracking Device (OTD) module is utilized to provide the accurate coordinates of the current location of the robot virtually on many flat surfaces. A holonomic wheel system is designed to allow the robot to navigate through multiple destinations. A navigation algorithm is developed to position the robot to any point accurately on a flat surface. This will allow the robot to freely move in any direction to reach multiple target destinations without any difficulties.