Mobile robot remote path planning and motion control in a maze environment

摘要

A wireless navigation mobile robot system is proposed in this paper for both path planning and trajectory execution. It should be within an indoor maze environment. The system consists of some device like a mobile robot, motion controller, visual sensor, ZigBee wireless communication device and a maze terrain to capture images of the mobile robot. The camera is used within the maze. To determine the robot's position it uses the Developed image processing and analyzing algorithms and orientation based on the color markers recognition. The Markers are placed on the top of the robot. So with this data the implemented navigation system calculates a trajectory for the mobile robot. It should be from a starting point to a target point for the trajectory calculation the Breadth First Search (BFS) and developed Depth First Search (DFS) algorithms which is modified were used. A developed control algorithm calculates the control signals in a real time. These signals are sent to the robot with the ZigBee device. And the modules for wireless communication, which causes the robot motion along the calculated trajectory and eventually, the completion of the trajectory method. The entire control system is realized and also the experimental results have been obtained. The experimental results confirm the effectiveness and robustness of the implemented control system.