Development and implementation of an even and uneven environment navigation strategy

Abstract

Industrial robotics is evolving quickly around the world, a great interest is shown for these machines.The robot’s age is close, new citizens will join our society. However, for these machines to operate complex algorithms are needed and required to handle various situations. An important capability for mobile robots is navigation, reaching a destination without colliding the obstacles, this problem is referred as Path Planning. Path planning is required for an autonomous mobile robot to find an optimal trajectory to the destination, a human controller is not needed anymore. A new approach has been proposed in this work, built upon the internet of objects ; computers are focused on path computation and robots on the execution, information is exchanged through the network (wireless local area network). The results outperform by far the classical implementations where robots were making every decision. Scalability is also achieved easily using the proposed topology, multiple robots can be controlled without impacting on the implementation. In this project, intelligent and robust software has been written to automate every task, a simple input of the map will trigger the whole process, the computer will compute an optimal trajectory then sends it to the robot for execution through the wireless medium(WIFI). The path is preplanned and can be saved for further exploitation. The robot is also able to detect a change in the environment and report it to the computer to get a new path.