Navigation for Two-Wheeled Differential Mobile Robot in the Special Environment

Abstract

In this paper, a new navigation method for the two-wheeled differential mobile robot operating in a specific environment is proposed. The orientation angle and position of the mobile robot are estimated by the data collected from the inertial sensors. The encoder sensor at the motor axis is calculated by the Kalman filter algorithm. Further, angular and positional errors are corrected as the robot passes through magnetic reference points installed under the floor on virtual paths. Next, the control function Lyapunov and the program to avoid obstacles by the VFH+ method in local space were also developed to help the robot reach the destination safely. Simulation results and some analysis clarify the correctness of our proposed algorithm. All of the results show promise and applicable.