Building mobile robot and creating applications for 2D map building and trajectory control

This paper deals with a simple procedure for map building as well as planning mobile robot trajectories. This approach divides the above problem into three stages: first, a design and construction of simple differential wheeled robot with ZigBee wireless communication; second, development of applications for mobile robot and PC which provide 2D map building of robot´s environment using IR sensors; and third, development of applications for mobile robot and PC which provide trajectory planning and robot motion control for created maps. PC applications are implemented using Matlab GUI tool. Finally, this paper also shows developed wireless communication protocol for data exchange between mobile robot and PC. The robustness and effectiveness of the proposed system are demonstrated through experimental results.