A Dynamically Adapting Indoor Navigation Algorithm for Mobile Robots
Zihao Yuan, Kevin Laubhan, Kumar Yelamarthi · 2014
Mobile robot has many applications especially in industrial field. One of the most challenging problems in mobile robot is the indoor navigation. This paper presents a dynamically adapting navigation algorithm for indoor mobile robots. A portable integrated system in an embedded system equipped with a Pioneer P3-DX robot with an array of sonar sensors is used. Based on the input received at the start of operation, the proposed algorithm can dynamically calculate a route, avoid obstacles, and travel to reach the predefined destination. The proposed algorithm avoids obstacles with assistance from ultrasonic sensors and also provides user feedback information about obstacles and direction changes through a feedback system. The prototype was successfully implemented and tested.