Wheeled Mobile Robot Obstacle Avoidance Using Compass and Ultrasonic

摘要

This paper presents the use of ARDUINO board to control an autonomous mobile robot (AMR) for navigation purpose. The wheeled robot is capable to perform two tasks. The first task is to move autonomously to the north direction. And the second task is to avoid collision with unexpected static and moveable obstacles. The robot uses two sensors to navigate and avoid the obstacle, a digital compass HMC5883L uses to detect the north direction and update the situation of the robot during its movement. And the ultrasonic sensor uses to avoid nearest obstacles on the robot way. C language used to program the system to do its mission and installed to the ARDUINO board. The results obtained show that the robot was able to navigate and move to the north and avoid obstacles in the outdoor environment.