Navigation algorithm for autonomous mobile robots in indoor environments

Fatima Khan; Asma Alakberi; Shamma Almaamari; Abdul R. Beig

doi:10.1109/ICASET.2018.8376834

Navigation algorithm for autonomous mobile robots in indoor environments

Fatima Khan
, Asma Alakberi
, Shamma Almaamari
, Abdul R. Beig

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

12 Scopus citations

Abstract

Autonomous mobile robots are expected to provide a major role in manufacturing, logistics and service industry. The objective of this research is to develop an improved obstacle avoidance and navigation algorithms for navigation in an unknown indoor environment. Ultrasonic sensors are used to detect obstacles, rotational odometry is used to localize the robot position and reach the target. A Bluetooth interface is used to establish communication between the laptop and robot and the same is used to program the robot and feed starting and target positions. An improvised collision avoidance algorithm based on the type Bug-2 algorithm is developed. An experimental robot is developed by modifying the commercially available Kobuki robot base. The proposed improved navigation algorithm is tested experimentally in a typical laboratory setting and experimental results are presented.

Original language	British English
Title of host publication	2018 Advances in Science and Engineering Technology International Conferences, ASET 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1-6
Number of pages	6
ISBN (Electronic)	9781538623992
DOIs	https://doi.org/10.1109/ICASET.2018.8376834
State	Published - 8 Jun 2018
Event	2018 Advances in Science and Engineering Technology International Conferences, ASET 2018 - Dubai, Sharjah, Abu Dhabi, United Arab Emirates Duration: 6 Feb 2018 → 5 Apr 2018

Publication series

Name	2018 Advances in Science and Engineering Technology International Conferences, ASET 2018

Conference

Conference	2018 Advances in Science and Engineering Technology International Conferences, ASET 2018
Country/Territory	United Arab Emirates
City	Dubai, Sharjah, Abu Dhabi
Period	6/02/18 → 5/04/18

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being
SDG 9 Industry, Innovation, and Infrastructure

Keywords

Autonomous mobile robot
differential drive
indoor environment
navigation
obstacle avoidance
obstacle detection
PWM converter
robots
transportation
ultrasonic sensors

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10.1109/ICASET.2018.8376834

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Khan, F., Alakberi, A., Almaamari, S., & Beig, A. R. (2018). Navigation algorithm for autonomous mobile robots in indoor environments. In 2018 Advances in Science and Engineering Technology International Conferences, ASET 2018 (pp. 1-6). (2018 Advances in Science and Engineering Technology International Conferences, ASET 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICASET.2018.8376834

Khan, Fatima ; Alakberi, Asma ; Almaamari, Shamma et al. / Navigation algorithm for autonomous mobile robots in indoor environments. 2018 Advances in Science and Engineering Technology International Conferences, ASET 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 1-6 (2018 Advances in Science and Engineering Technology International Conferences, ASET 2018).

@inproceedings{41118ebb428b48958915e205bc9c60a0,

title = "Navigation algorithm for autonomous mobile robots in indoor environments",

abstract = "Autonomous mobile robots are expected to provide a major role in manufacturing, logistics and service industry. The objective of this research is to develop an improved obstacle avoidance and navigation algorithms for navigation in an unknown indoor environment. Ultrasonic sensors are used to detect obstacles, rotational odometry is used to localize the robot position and reach the target. A Bluetooth interface is used to establish communication between the laptop and robot and the same is used to program the robot and feed starting and target positions. An improvised collision avoidance algorithm based on the type Bug-2 algorithm is developed. An experimental robot is developed by modifying the commercially available Kobuki robot base. The proposed improved navigation algorithm is tested experimentally in a typical laboratory setting and experimental results are presented.",

keywords = "Autonomous mobile robot, differential drive, indoor environment, navigation, obstacle avoidance, obstacle detection, PWM converter, robots, transportation, ultrasonic sensors",

author = "Fatima Khan and Asma Alakberi and Shamma Almaamari and Beig, \{Abdul R.\}",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 Advances in Science and Engineering Technology International Conferences, ASET 2018 ; Conference date: 06-02-2018 Through 05-04-2018",

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language = "British English",

series = "2018 Advances in Science and Engineering Technology International Conferences, ASET 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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}

Khan, F, Alakberi, A, Almaamari, S & Beig, AR 2018, Navigation algorithm for autonomous mobile robots in indoor environments. in 2018 Advances in Science and Engineering Technology International Conferences, ASET 2018. 2018 Advances in Science and Engineering Technology International Conferences, ASET 2018, Institute of Electrical and Electronics Engineers Inc., pp. 1-6, 2018 Advances in Science and Engineering Technology International Conferences, ASET 2018, Dubai, Sharjah, Abu Dhabi, United Arab Emirates, 6/02/18. https://doi.org/10.1109/ICASET.2018.8376834

Navigation algorithm for autonomous mobile robots in indoor environments. / Khan, Fatima; Alakberi, Asma; Almaamari, Shamma et al.
2018 Advances in Science and Engineering Technology International Conferences, ASET 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1-6 (2018 Advances in Science and Engineering Technology International Conferences, ASET 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Navigation algorithm for autonomous mobile robots in indoor environments

AU - Khan, Fatima

AU - Alakberi, Asma

AU - Almaamari, Shamma

AU - Beig, Abdul R.

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N2 - Autonomous mobile robots are expected to provide a major role in manufacturing, logistics and service industry. The objective of this research is to develop an improved obstacle avoidance and navigation algorithms for navigation in an unknown indoor environment. Ultrasonic sensors are used to detect obstacles, rotational odometry is used to localize the robot position and reach the target. A Bluetooth interface is used to establish communication between the laptop and robot and the same is used to program the robot and feed starting and target positions. An improvised collision avoidance algorithm based on the type Bug-2 algorithm is developed. An experimental robot is developed by modifying the commercially available Kobuki robot base. The proposed improved navigation algorithm is tested experimentally in a typical laboratory setting and experimental results are presented.

AB - Autonomous mobile robots are expected to provide a major role in manufacturing, logistics and service industry. The objective of this research is to develop an improved obstacle avoidance and navigation algorithms for navigation in an unknown indoor environment. Ultrasonic sensors are used to detect obstacles, rotational odometry is used to localize the robot position and reach the target. A Bluetooth interface is used to establish communication between the laptop and robot and the same is used to program the robot and feed starting and target positions. An improvised collision avoidance algorithm based on the type Bug-2 algorithm is developed. An experimental robot is developed by modifying the commercially available Kobuki robot base. The proposed improved navigation algorithm is tested experimentally in a typical laboratory setting and experimental results are presented.

KW - Autonomous mobile robot

KW - differential drive

KW - indoor environment

KW - navigation

KW - obstacle avoidance

KW - obstacle detection

KW - PWM converter

KW - robots

KW - transportation

KW - ultrasonic sensors

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M3 - Conference contribution

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T3 - 2018 Advances in Science and Engineering Technology International Conferences, ASET 2018

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BT - 2018 Advances in Science and Engineering Technology International Conferences, ASET 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 Advances in Science and Engineering Technology International Conferences, ASET 2018

Y2 - 6 February 2018 through 5 April 2018

ER -

Khan F, Alakberi A, Almaamari S, Beig AR. Navigation algorithm for autonomous mobile robots in indoor environments. In 2018 Advances in Science and Engineering Technology International Conferences, ASET 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 1-6. (2018 Advances in Science and Engineering Technology International Conferences, ASET 2018). doi: 10.1109/ICASET.2018.8376834

Navigation algorithm for autonomous mobile robots in indoor environments

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

OpenUrl availability

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