Exploration mobile robot, project and prototype

Abstract

The following paper discusses a project of a mobile robot for exploration purposes. The robot’s goal is to inspect ambient conditions in places that are unavailable for a human being on account of their location, narrowness or possible danger. The robot needs to be equipped with a wireless video camera (rotated remotely in two axes to provide full visibility) in order to inspect such places. The algorithm controlling the robot includes two operation modes: manual mode, where the robot is controlled remotely by a human operator, and autonomous mode, where the robot has to reach a predefined point avoiding obstacles on the way. Autonomous mode algorithm demonstrates the robot’s capability to work without any operator’s supervision. The final step of the project, making a fully functional prototype, included building the robot, equipping it with a control system platform and uploading a program consistent with previously developed algorithm.