Open AccessMicrocontroller-based mobile robot positioning and obstacle avoidance
Author(s) -
Ahmed Zaki,
Osama M. Arafa,
Sanaa I. Amer
Publication year - 2014
Publication title -
journal of electrical systems and information technology
Language(s) - English
Resource type - Journals
ISSN - 2314-7172
DOI - 10.1016/j.jesit.2014.03.009
Subject(s) - mobile robot , mobile robot navigation , obstacle avoidance , microcontroller , usable , embedded system , navigation system , real time computing , ultrasonic sensor , computer science , robot , encoder , engineering , artificial intelligence , robot control , physics , world wide web , acoustics , operating system
The use of mobile robots is growing in manufacturing facilities, hazardous materials handling, etc. Usually, several sensor systems are used in combination. The task of combining the information into a usable form, suitable for making navigation decisions, is known as sensor fusion. In this paper, the navigation system built on a mobile robot operating in a warehouse is presented focusing on the sensory system used. Hybrid navigation system that combines the perception and dead reckoning is used and gives satisfactory operation. A microcontroller system is designed to control the navigation of a mobile robot while avoiding obstacles. A system of 24 ultrasonic sensors was designed and the operation algorithms were described. The encoder and the ultrasonic sensors used are presented in detail together with the navigation system designed based on their operation