Odometry Algorithm with Obstacle Avoidance on Mobile Robot Navigation

Khoswanto, Handry and Santoso, Petrus and Lim, Resmana (2016) Odometry Algorithm with Obstacle Avoidance on Mobile Robot Navigation. [UNSPECIFIED]

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Abstract

Many algorithms have been devised on mobile robot navigation system. Some of them use algorithm based on newer concept like fuzzy logic or genetic algorithm. Some are stick on older algorithm like odometry. A simple, less intensive calcula-tion algorithm for a lightweight telepresence robot is required. To accommodate the requirement, odometry algorithm is chosen specifically. Obstacle avoidance feature is proposed to enhance the algorithm. A mobile robot prototype is imple-mented using Arduino UNO, two DC geared motors, single caster wheel, and an ul-trasonic sensor. Two kind of experiments are performed. The first experiment is to verify that odometry algorithm is working. The second one is used to verify ob-stacle avoidance mechanism. The results are satisfying. Mobile robot can avoid the obstacle and reach the destination correctly. Further experiment is needed to decide about ultrasonic sensor placement in a real telepresence robot.

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