Design and implementation of a navigation system for autonomous mobile robots

Authors:
Jang-Ping Sheu;Chia-Chi Chang;Kai-Wen Lo;Chi-Wen Deng
Affiliations:
Department of Computer Science, National Tsing Hua University, Hsinchu, Taiwan 30013.;Department of Computer Science and Information Engineering, National Central University, Chung-Li, Taiwan 32001.;Department of Computer Science and Information Engineering, National Central University, Chung-Li, Taiwan 32001.;Networks & Multimedia Institute, Institute for Information Industry, Taiwan
Venue:
International Journal of Ad Hoc and Ubiquitous Computing
Year:
2010

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Abstract

In this paper, a navigation system for autonomous mobile robots is proposed. Our navigation system is a hybrid of behaviour-based and model-based navigation systems. In our system, a behaviour-based subsystem is in charge of low-level reactive actions, and a model-based subsystem is responsible for high-level planned actions. If there are obstacles in the way, the navigation system will use our obstacle avoidance algorithm to navigate around these obstacles and keep the robot moving towards the destination. On the basis of our experimental results, our navigation system can navigate the robot to the destination effectively.