Practical Application and Construction for Mobile Robot

Abstract

This paper describes the construction of a rover mobile robot which is used to follow the resultant optimal path from the global path planning technique. A remote computer is used to control the motion of the mobile robot and to upload the data of the path wirelessly. The control (positioning and directing) of the robot is based on the readings of two wheel encoders. The current direction and position of the robot are calculated relatively to its previous direction and position. The control algorithm is capable to move the mobile robot in order to follow a certain path. The software of the control algorithm is executed using PIC microcontroller. To prove the efficiency of the control algorithm, this algorithm applied on the constructed mobile robot to move it in real world environment between different start and end points. The constructed mobile robot shows that it can follow the required path and reach the target within specified error percent.

Keywords

• mobile robot
• path planning
• pic microcontroller
• wireless control
• remote control