We have developed autonomous mobile platform to support experiments and research on tasks in the area of intelligent robotics. A set of the onboard micro-controllers together with communication interface, motors unit, and battery power suppliers makes a hardware basis of the mobile robot.
OAS is designed as a low-level system without internal world representation. The avoidance strategy is defined by a deterministic automaton that plans robot's actions in a symbolic language.
The actual implementation of the navigation system contains odometry based position estimation algorithm, dynamic point to point navigation control system, and path planner with the internal world representation. We experiment with occupancy grid based representation and connected graph interpretation of the world. The following picture shows an occupancy grid constructed from the measererment provided from the sonars and infrared sensors.
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