Navigation System for Wheeled Robots

Abstract

In this era of automation, it is extremely necessary to find a cheap and accurate navigation system for wheeled robots, so as to bring them to commercial level. Several algorithms have been developed in order to calculate accurate X and Y co-ordinates of wheeled robot, where along with encoders, high cost Inertial Measurement Units have been used for error correction. In order to bring such navigation system at consumer level, where the robots will have to be produced in masses, it is not possible to implement such tedious processes on each manufactured robot. This paper is aimed at optimizing the odometry algorithm, required to convert the region of motion into a co-ordinate plane using encoders, or a combination of encoder and low cost gyroscopes. A reliable trajectory generation based solution for desired path of motion of the wheeled robots based on false virtual co-ordinate system is proposed.