Implementation of guidance system in modeled autonomous mobile for obstacle avoidance behavior

Autonomous robots are widely used in dangerous area and medical robotic applications. This paper addresses on the guidance system implementation for autonomous mobile robot. The main theme of this guidance system is to detect the obstacle along the predefined path of model moving area and successfully avoid this obstacle. Three PIC microcontrollers interfaced on I²C communication protocol are the main functional unit of constructed system and ultrasonic transmitter and receiver are used for obstacle detection. The avoidance process based on line of sight to destination and interpolation technique is simulated with MATLAB^® software. After doing some modification to solve the problem faced on the whole system testing phase, it can be concluded that the guidance system can totally avoid the obstacles.