Autonomus — Navigation system for mobile robot

The article deals with the design and implementation of a navigation system, which could allow robots to operate autonomously. The navigation system consists of an obstacle detector using a line laser and a camera, in addition to a path planner using the very same data. The obstacle detection module realizes a general laser scanner which uses both the intrinsic parameters of the camera and the plane of the laser expressed in the coordinate system of the camera. The module is able to detect the obstacles quickly and accurate to the millimeter. Between the found obstacles, it uses an enhanced version of the exact cell decomposition algorithm [12] for the planning of the path. The system is tested by a robot, where during the path planning the physical attributes of the vehicle are also taken into account, and the recommended path between the obstacles is determined by this.