Path Planning for Robot Navigation Using Matlab

Abstract

Robotics is a current emerging technology in the field of science. A number of universities in world are working in this field. Robotics is the new emerging booming field, which will be of great use to society in the coming years. These days many types of wireless robots are being developed and are put to varied applications and uses.This paper concerns the design and fabrication of the Automated Guided Robot (AGR) prototype, as a mainframe in helping the robot to generate a self-understanding of the area of work and mobilization to a destination desired by the user. The main objective of this paper is to create and develop a Path Planning Mobile Robot able to avoid obstacles in its path and reach a target designated position from its starting point utilizing 4 wheel-based rover body, sensors, linear motors and microcontrollers. The paper describes the design process of the AGR development, from the initiation of idea to development of algorithms, to virtual prototype development of AGR mechanisms and controller board, to fabrication, to mobility, obstacle avoidance and path planning test. Two methods of path planning are presented, using compass bearing in undetermined space and predetermined path. Obstacle avoidance and path planning algorithms has been tested using the completed design of AGR body.