Navigation algorithm for autonomous mobile robots in indoor environments

摘要

Autonomous mobile robots are expected to provide a major role in manufacturing, logistics and service industry. The objective of this research is to develop an improved obstacle avoidance and navigation algorithms for navigation in an unknown indoor environment. Ultrasonic sensors are used to detect obstacles, rotational odometry is used to localize the robot position and reach the target. A Bluetooth interface is used to establish communication between the laptop and robot and the same is used to program the robot and feed starting and target positions. An improvised collision avoidance algorithm based on the type Bug-2 algorithm is developed. An experimental robot is developed by modifying the commercially available Kobuki robot base. The proposed improved navigation algorithm is tested experimentally in a typical laboratory setting and experimental results are presented.