Indoor navigation of a wheeled mobile robot

Author

Popa, A.S. ; Popa, Mihail ; Silea, Ioan ; Varlan, Adrian

Author_Institution

Fac. of Mech., Politeh. Univ. of Timisoara, Timisoara

fYear

2008

fDate

25-27 May 2008

Firstpage

1009

Lastpage

1014

Abstract

Important advances have been made in the last period in the robotic domain. Mobile robots are in an accentuated development. The navigation of the mobile robots requires solutions for the following problems: the establishment of the current position, the motion planning and the avoidance of obstacles. This paper approaches the problem of indoor navigation of a wheeled mobile robot. The X80 robot from Dr. Robot was used. The trajectory of the robot is computed on a PC which sends all the motion commands wireless. The robot sends to the PC video images, through its web camera and information about the temperature, proximity, position of the wheels and the level of the power source battery. An obstacle avoidance algorithm based on odometry was implemented.

Keywords

collision avoidance; distance measurement; mobile robots; navigation; robot vision; video signal processing; Dr. Robot; X80 robot; indoor navigation; motion planning; obstacle avoidance; odometry; position control; power source battery level; robot trajectory; video images; web camera; wheel position; wheel proximity; wheel temperature; wheeled mobile robot; wireless motion command; Accelerometers; Medical robotics; Mobile robots; Motion planning; Navigation; Position measurement; Robot sensing systems; Service robots; Trajectory; Wheels; indoor navigation; mobile robot; obstacle avoidance; odometry;

fLanguage

English

Publisher

ieee

Conference_Titel

Human System Interactions, 2008 Conference on

Conference_Location

Krakow

Print_ISBN

978-1-4244-1542-7

Electronic_ISBN

978-1-4244-1543-4

Type

conf

DOI

10.1109/HSI.2008.4581583

Filename

4581583