Designing Fair Route For Non-Holonomic Mobile Robots

Abstract

Autonomous robotics is a field that is dominating the world. A fully autonomous robot needs no human intervention. The aim of this project is to design and fabricate a mobile robot to avoid obstacles in its path and reach fixed goal position. The path of any non-holonomic (car like) mobile robot travelling from one point to another needs to be smooth (fair) so as to avoid sharp jerks that can otherwise create premature wear and tear of the robot. Since most of such robots are battery operated so less oscillations in their path is required. Obstacle detection and path planning are the two important features. For obstacle detection a flat terrain is focused in this project. The type of environment (indoor, outdoor) doesn’t matter on the map reconstruction. A* (A star) algorithm is used to find path for non holonomic robot travelling from initial point to final point.