Motion and Navigation Control System of a Mobile Robot as A Prototype of An Autonomous Vehicle

Abstract

Autonomous vehicle is a vehicle that can automatically navigate both long-range and short-range navigation. In this paper, we designed a motion and navigation control system of an autonomous vehicle that is implemented on a mobile robot. The remote navigation process involves using the global positioning system (GPS) sensor as a reference to navigate, and for short-range navigation using the proximity and force sensor. The robot task is to reach several coordinate points that are determined and marked with a traffic-cone at each point. In the control of short-range navigation, the robot uses five ultrasonic and three switch sensors to read the environment as input to the description of the distance between the robot and the object. The micro-controller then compares it to the robot's safe distance instructions in navigating with surrounding objects. GPS sensor is used to provide remote navigation path information. To compensate for the accuracy of the wide GPS sensor readings, several waypoints are designed to guide the robot to the specified traffic-cone. From the implementation, the robot movement can go along the navigation area and can avoid short-range objects in the robot trajectory and get to the traffic-cone point with the percentage of success reaching the final destination above 86% both in sunny and cloudy weather.