A design of an autonomous mobile robot base with omnidirectional wheels and plane-based navigation with Lidar sensor

摘要

This paper proposes the design of a base for an autonomous mobile robot that plans optimal routes for its movement in a known environment. The proposal describes both the hardware and software of the robot.In the case of hardware, sensors are used to facilitate obtaining data from the environment and actuators that allow the movement of the robot. Furthermore, the Raspberry PI 4B+ is used as a computer, this overseeing verifying the values of the sensors and sending data to the actuators.On the other hand, for navigation an algorithm is used that generates possible routes, compares them, and chooses the most efficient one to allow optimal movement. This was demonstrated in the tests carried out, where a high efficiency was obtained. This uses as base the map of the chosen space. The purpose of this project is to design a base of a mobile robot, with an efficient autonomous navigation that avoids static obstacles from a base point to different points established by the user, which will be saved for future uses. The design is modeled in Autodesk Inventor 2020 and Python programming language is used, through which validation tests were carried out, where the proposed routes are compared and the one with the least number of steps is chosen.