Sensor-based motion control for a mobile robot

Various solutions have been proposed for controlling the motion of mobile robots. They are generally classified into two categories: global or explicit planning and local or implicit planning. The local solutions are mainly used in unknown environments and are completely based on information provided by sensors. This paper presents a solution for controlling the motion of a mobile robot through sensors. The X80 wheeled robot from DrRobot and the Cricket sensors were used. The trajectory of the robot is obtained reactively. It is controlled by a sensor which, at its turn, receives wirelessly commands from a PC. The PC is informed about the position and the motion of the mobile robot by other wireless sensors.