Title :
Navigation and slope detection system design for autonomous mobile robot
Author :
Wei, Boyu ; Gao, Junyao ; Li, Kejie ; Chen, Hu
Author_Institution :
Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China
Abstract :
Autonomous mobile robot navigation is a hot research field in recent years. We design a four-tracked autonomous mobile robot with a main-controller based on ARM s3c2410 and sub-controller based on ATmega128. The navigation system consists of GPS, INS, ultrasonic and infrared sensors. The used of the GPS and inertial navigation system for autonomous mobile robot makes its navigation precision and performance increase greatly. A new local path planning algorithm is presented, which is based on artificial potential field theory. By using the infrared sensors installed in front of the robot, it can detect whether there is a slope and calculate the angel of the slope.
Keywords :
Global Positioning System; mobile robots; path planning; sensors; telerobotics; artificial potential field theory; autonomous mobile robot; inertial navigation system; infrared sensors; navigation detection system design; path planning algorithm; slope detection system design; Centralized control; Control systems; Global Positioning System; Infrared detectors; Infrared sensors; Mobile robots; Navigation; Path planning; Robot sensing systems; Sensor systems; GPS/INS; autonomous mobile robot; local path planning algorithm; slope detection;
Conference_Titel :
Electronic Measurement & Instruments, 2009. ICEMI '09. 9th International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-3863-1
Electronic_ISBN :
978-1-4244-3864-8
DOI :
10.1109/ICEMI.2009.5274672
