Localization and Path Planning for an Autonomous Mobile Robot Equipped with Sonar Sensor

Abstract

In the field of mobile robotics, the process of robot localization and global trajectory planning in robot operating scenes, that are completely or partially known, represents one of the main issues that are essential for providing the desired robot functionality. This paper introduces the basic elements of path planning for an autonomous mobile robot equipped with sonar sensors, operating in a static environment. The path planning process is initially performed by using a known map. Next, the sonar sensors are used to localize the robot, based on obstacle avoidance techniques. The effectiveness and efficiency of the algorithm proposed in this paper is demonstrated by the simulation results.

Robot Mobile Otonom Menggunakan Metode Odometry

“…Pada penelitan AMR yang pertama dikembangkan metode odometry digabung dengan sensor kamera, penelitian kedua odometry dan sensor ultrasonic LPS (Local Positioning System) serta penelitian ketiga menggabungkan odometry dan Wireless Sensor Network (WSN). Teknologi lain yang saat ini juga dikembangkan untuk sistem navigasi AMR pada area terbatas antara lain kamera [8] dan [9], sonar [10], dan radar [11]. Penelitian ini dapat dijadikan dasar untuk pengembangan kendali berbasis rute menggunakan GPS yang memungkinkan kendaraan mampu mengikuti rute yang areanya lebih luas [12].…”

“…Selisih titik tujuan dan posisi saat ini menghasilkan x dan y yang merupakan arah robot sedangkan jarak antara posisi saat ini dan titik tujuan dapat ditentukan dengan menggunakan teorema phytagoras. Lihat Persamaan (8), (9), dan (10).…”

Comparison of Path Planning between Improved Informed and Uninformed Algorithms for Mobile Robot

“…According to this point of view, it is obvious that Mobile Robots will be an indispensable part of future life [2]. To make Mobile Robots able to perform an assigned task, they have to know their locations [3], how to navigate [4] within their environment [5] and how to comprehend what the world around them looks like in order to choose the optimal path [6] from the start to the end point in order to reach the target. The path selection depends on the selected criteria to evaluate the path (ex: travel time, number of visited nodes, etc.…”

The Experimental Analysis for the Localization of a Mobile Platform Equipped with a Multi-Antenna GNSS System

“…International experts have designed large number of sensor systems for the localization of the mobile platforms used in various fields of research, some of which can also be used for the mobile mobile robots for constructions [1,2,5,6,8,9,10,11,12].…”