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A two-wheeled mobile robot, namely Kian-I, is designed and prototyped in thisresearch. The Kian-I is comparable with Khepera-IV in terms of dimensionalspecifications, mounted sensors, and performance capabilities and can be usedfor educational purposes and cost-effective experimental tests. A motioncontrol architecture is designed for Kian-I in this study to facilitateaccurate navigation for the robot in an immersive environment. The implementedcontrol structure consists of two main components of the path recommendersystem and trajectory tracking controller. Given partial knowledge about theoperation field, the path recommender system adopts B-spline curves andParticle Swarm Optimization (PSO) algorithm to determine a collision-free pathcurve with translational velocity constraint. The provided optimal referencepath feeds into the trajectory tracking controller enabling Kian-I to navigateautonomously in the operating field. The trajectory tracking module eliminatethe error between the desired path and the followed trajectory throughcontrolling the wheels' velocity. To assess the feasibility of the proposedcontrol architecture, the performance of Kian-I robot in autonomous navigationfrom any arbitrary initial pose to a target of interest is evaluated throughnumerous simulation and experimental studies. The experimental resultsdemonstrate the functional capacities and performance of the prototyped robotto be used as a benchmark for investigation and verification of various mobilerobot algorithms in the laboratory environment.

Feasibility Assessment of a Cost-Effective Two-Wheel Kian-I Mobile Robot for Autonomous Navigation