Automatic Navigation of Mobile Robot Based on Wheel’s Encoder and Predefined Map | ||
| IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING | ||
| Volume 19, Issue 4, October 2019, Pages 20-29 PDF (1.51 M) | ||
| DOI: https://doi.org/10.33103/uot.ijccce.19.4.3 | ||
| Authors | ||
| Hala Jamal Hadi1; Salih Mahdi Al-Qaraawi2 | ||
| 1Computer Engineering Department, University of Technology, Iraq | ||
| 2Computer Engineering Department, University of Technology, Baghdad, Iraq | ||
| Abstract | ||
| Recently, the automatic movement of mobile robots has played a very important role in the advancement of technology. Automated mobile robot path determination is one of the most important challenges in the science of technology. This paper proposed a path planning method for wheeled mobile robots based on a real time calculation of a predefined distance on a certain map to enable the mobile robot to navigate at indoor areas according to the calculated distances and angles on the paths. The proposed system uses two wheels’ car as a prototype with two optical encoders to determine the number of wheel’s rotations, in order to calculate the needed distances and angles between two points on the navigation path. The system was controlled by a microcomputer Raspberry Pi, programmed using python programming language. The experimental results show an accurate distances and angles measurement for the navigation under a suitable condition. | ||
| Keywords | ||
| Automatic Movement; Mobile Robot; Path Tracking; Raspberry PI; Optical Encoder; Python | ||
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