Open AccessDesign and Implementation of Robust Navigation System Platform for Autonomous Mobile Robot
Author(s) -
Deepak Yadav,
Bharat Prasad Dixit,
Pankaj Yadav,
Gajanan R Patil,
Jayesh R. Jain
Publication year - 2019
Publication title -
international journal of engineering and advanced technology
Language(s) - English
Resource type - Journals
ISSN - 2249-8958
DOI - 10.35940/ijeat.b2373.129219
Subject(s) - odometry , mobile robot , mobile robot navigation , robot , computer science , navigation system , controller (irrigation) , control engineering , real time computing , robot control , artificial intelligence , engineering , agronomy , biology
An autonomous robot can navigate in a given region and reach to a specified location. The navigation system for these robots has to be reliable, versatile and rugged. In this paper, design and development aspects of such navigation system are discussed. A two level architecture is proposed for navigation of the autonomous robot. The low level controller (LLC) generates odometry data and implements closed loop feedback based PID algorithm. The high level controller (HLC) is used to generate velocity commands based on the path planned and inputs sensed from environment. The two controllers continuously exchange data with each other to reach the final destination. This navigation system platform can be used to develop autonomous mobile robots.