Implementing Autonomous Navigation Robot for building 2D Map of Indoor Environment

Abstract

This paper solves the problems of Simultaneous localization and mapping (SLAM) that deals with local path planning of an autonomous mobile robot in indoor environment, by using sonar sensors for object detection and range information, and also uses wheel encoders for tracking robot position and orientation based on dead-reckoning process. In this work, mobile robot uses wall-follower technique for an autonomous navigation in unknown indoor environment. This is based on the behavior of the mobile robot developed for fully automatic navigating beside the wall without shocking it and also avoids hitting any obstacles during navigation near the wall. This work involves the construction of control algorithm, which has four functions: follow the wall, obstacles avoidance, determine the location of mobile robot simultaneously with building 2D map within an unknown environment. Two cases were described in this project, the result of first case showed how mobile robot can navigated successfully without supervisor in two mini room and corridors and showed how the robot with sonar can drew this area during navigation, the result of second case showed how mobile robot could navigate successfully without supervisor in room with three obstacles and showed how mobile robot with sonars could drew these obstacles with walls of plan during navigation. Both cases used wall following techniques for navigation to follow the walls and avoided all obstacles that are located on its way.