Mobile robot navigation with obstacle avoidance capability

摘要

Mobile robots are a very dynamic part of the robotics domain. Their navigation requires solutions for: establishment of the current position, motion planning and avoidance of obstacles. The paper describes a solution for mobile robot navigation with obstacle avoidance capability based on the X80 robot from Dr. Robot. The map and the trajectory are computed on a PC which will wirelessly control the motion of the robot. The robot senses the obstacles using its sensors, sends the information to the PC and a new trajectory is computed avoiding the obstacles. The algorithm was based on the odometry method.