Design of an Autonomous Mobile Robot as a Base Platform for Research of Cyber Physical Systems

Abstract

The present article proposes the design and construction of a mobile robot for interiors with a Cyber Physical System (CPS) approach. It has the capacity to navigate in indoor environment and it also recognizes its surroundings by the Simultaneous Localization and Mapping (SLAM). In the generated map, the platform is able to navigate and to plan different trajectories towards the goal, recognizing obstacles, avoiding them and optimizing the routes. Besides, a docking station was built to charge and monitor the machine. It has a projection to work together with other robots and humans throughout IoT protocols.