Real-time navigation for indoor environment

Abstract

Mobile robots have been widely used in exploration and navigation from the starting position to the desired goal where static, dynamic and unknown environment is involved. The environment is distinguished by variable terrain and obstacles that may block the movement of the robot in reaching the desired destination. Mobile robot relies on sensors to get information about their surroundings. The proposed system has been implemented with the help of an overhead camera acting as a Positioning System or a 2D real time terrain mapping sensor node and the robot connected to this sensor node wirelessly thus acquiring its own position along with the position of the dynamic obstacles and the path to be followed. It uses Lego Mindstorms NXT V2 for the robot and MATLAB for the image processing and programming. The system designed is capable of static as well as dynamic obstacle avoidance.