Development of an Indoor Navigation System for Mobile Robots Using Sensor Fusion and Path Planning Algorithms
S. Suryaprakash, P. Thirumoorthi, Tamilarasu Viswanathan · 2023
This paper proposes an indoor navigation system for a mobile robot in large buildings and complexes using sensor fusion and path planning techniques. The proposed system consists of two main components: a mobile robot and a backend server. The mobile robot is equipped with sensors, including an inertial measurement unit (IMU), Wi-Fi, and BLE, to estimate its position and orientation in the environment. The robot is controlled using an Arduino microcontroller, which receives commands from the backend server and sends motor commands to the robot's motors. The backend server integrates information from the sensors and uses sensor fusion algorithms to estimate the robot's position and update the route information. The server also uses the MATLAB path planning algorithm to calculate the most efficient path for the robot and provides real-time updates to the robot's controller. The implementation of the MATLAB path planning algorithm and the Arduino four-wheeled robot provides a cost-effective and practical solution for indoor navigation.