Mobil robot navigation using 2D LIDAR

摘要

This paper describes the development of navigation method of a mobile robot with multiple distance measuring sensor. The Differential Drive Mobile Robot is controlled by our own control panel. For perception of the environment, a SICK LMS 151 type LiDAR (Light Detection and Ranging) and two optical (infrared) and two ultrasonic distance meters were placed on the robot. During the development of the navigation method communication with LIDAR has been developed. The data of the laser and ultrasonic distance meter sensors are processed and transmitted to the computer by the unique developed embedded system. Controlling of motors are done by the PCB (Printed Circuit Board) as well. Using advantages of LIDAR sensor defined navigational direction is rapidly calculated after measurement. Own software has been developed for calculating the route and for communication with control electronics. Several high pass filters were implemented for steady progress of the robot. In this way, the system is able to avoid obstacles rapidly.