Design and Fabrication of an Autonomous Mobile Robot for Obstacle Avoidance and Path Planning in Partially Known Environment

Abstract

In this paper, an autonomous mobile robot has been designed and fabricated which can be used in both indoor and outdoor for industrial and household applications. Here using six servo motors and four DC motors with their controllers (servo controller and L293D DC Motor controller) the mobile robot can pick any object from its workspace and by avoiding collision it can place the object in the desired location. ASCII ultrasonic sensor and motion sensor are used along with ATmega 2560 microcontroller which is programmed to take the sensors output as its input and controls the dc motor and servo motors to pick and place objects and avoid obstacle during motion of the mobile robot. Here low-cost solar panels have been used to recharge the Li-ion batteries used for the motors and microcontroller in case of outdoor environment. The obstacle avoidance and path planning algorithms have been developed and a case study has been presented in this paper.