Design and implementation of a navigation system for autonomous mobile robots. (1st September 2010)

• Record Type: Journal Article
• Authors: Sheu, Jang-Ping; Chang, Chia-Chi; Lo, Kai-Wen; Deng, Chi-Wen
• Is Part Of: International journal of ad hoc and ubiquitous computing. Volume 6:Number 3(2010)
• Page Start: 129
• Page End: 139
• Publication Date: 2010-09-01
• Subjects: hybrid architecture -- localisation -- navigation systems -- obstacle avoidance -- WSNs -- wireless sensor networks -- autonomous mobile robots -- robot navigation -- wireless networks -- behaviour-based navigation -- model-based navigation; Ubiquitous computing -- Periodicals; Embedded computer systems -- Periodicals; Electronic data processing -- Distributed processing -- Periodicals; Wireless communication systems -- Periodicals; Computer architecture -- Periodicals; 004.2
• Languages: English
• ISSNs: 1743-8225

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.