Motion Planning of the Mobile Robot Using Laser Detection System

The paper programs motion paths using laser detection system for the mobile robot. The laser detection system contains a laser range finder and a laser positioning system. The mobile robot is constructed using aluminum frame, and has the shape of cylinder and its diameter, height and weight is 40 cm, 80cm and 40kg respectively. In the driver system and avoidance obstacle driver system, we use NI motion control card and MAXON drivers to control two DC servomotors, and detect obstacle using a laser range finder and sixteen reflective IR sensors. The mobile robot locates the position of the detected obstacles using a laser positioning system. The mobile robot can program the motion path using A* searching algorithm and avoids the detected obstacles to follow the programmed trajectory. We develop the user interface to display the positions of the detected obstacles. Finally, we implement the experimental results using the proposed method. The mobile robot moves to the target position from the start position autonomously. The mobile robot detects environment status using the laser detection system and avoids the detected obstacles to finish the assigned tasks.