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

fYear

2009

fDate

16-19 Aug. 2009

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICEMI.2009.5274672

Filename

5274672