Indoor Navigation for the Mobile Robot

초록

In this paper, some algorithms are presented for a mobile robot in indoor environment. Wall following is used to make a map using sonar sensor with the minimum sensors while navigating. In this method, walls are categorized into three kinds. And the ultrasonic sensors equipped with the robot are realigned in order to accomplish this job. Also the new real-time obstacle avoidance method presents how to create a curvature trajectory in which dynamics of a mobile robot is considered. And translational and rotational speeds are controlled independently. Using these two speeds, a mobile robot traces a smooth curvature trajectory that consists of circle trajectories to a target point. While trying to avoid obstacles, the robot can be goal-directed using curvature trajectory and this method can reduce the position error caused by friction. In the experimental results, wall following for map building and real navigation including an obstacle avoidance method are shown.