Research on the Navigation Control of an Indoor Wheeled Autonomous Mobile Robot

Abstract

This paper describes an indoor autonomous wheeled mobile robot CASIA-I we developed. The locomotion system of the robot, besides kinemics equation, navigation algorithm is expounded here. The software simulation and experiment are conducted by the algorithm. Both in the environment of software simulation and in the condition of experiment, the robot can avoid obstacles and navigate itself to the destination in real time. The stability of the platform and effectiveness of the algorithm are demonstrated by means of simulation example and experiment results.