Design and Implementation of Robust Navigation System Platform for Autonomous Mobile Robot
Deepak Kumar Yadav1, Bharat Prasad Dixit2, Pankaj Yadav3, Gajanan R Patil4, Jayesh Jain5
1Mr. Deepak Kumar Yadav, Department of Electronics & Telecommunication Engineering, Army Institute of Technology, Pune, India.
2Mr. Bharat Prasad Dixit, Department of Electronics & Telecommunication Engineering, Army Institute of Technology, Pune, India.
3Mr. Pankaj Yadav, Department of Electronics & Telecommunication Engineering, Army Institute of Technology, Pune, India.
4Dr. Gajanan R Patil*, Department of Electronics & Telecommunication Engineering, Army Institute of Technology, Pune, India.
5Mr. Jayesh Jain, MACFOS Pvt. Ltd (Robu.in), Pune, India.
Manuscript received on November 20, 2019. | Revised Manuscript received on December 15, 2019. | Manuscript published on December 30, 2019. | PP: 1346-1349 | Volume-9 Issue-2, December, 2019. | Retrieval Number: B2373129219/2020©BEIESP | DOI: 10.35940/ijeat.B2373.129219
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: An autonomous robot can navigate in a given region and reach to a specified location. The navigation system for these robots has to be reliable, versatile and rugged. In this paper, design and development aspects of such navigation system are discussed. A two level architecture is proposed for navigation of the autonomous robot. The low level controller (LLC) generates odometry data and implements closed loop feedback based PID algorithm. The high level controller (HLC) is used to generate velocity commands based on the path planned and inputs sensed from environment. The two controllers continuously exchange data with each other to reach the final destination. This navigation system platform can be used to develop autonomous mobile robots.
Keywords: Autonomous Mobile Robot, PID, Odometry, Robotic Operating System (ROS), High Level Controller (HLC), Low Level Controller (LLC).