Design and Implementation of Robust Navigation System Platform for Autonomous Mobile Robot

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.