In this paper, the navigation system for patrol robots using localization sensor is\ developed. The global path planning and global map building are pefformed in graphic simulator with off-line programming. The overall system consists of four hierarch...
In this paper, the navigation system for patrol robots using localization sensor is\ developed. The global path planning and global map building are pefformed in graphic simulator with off-line programming. The overall system consists of four hierarchical architecture, global map building, localization system, local path planning system and control system for main control and servoing control. For the main controller, we use PXA255 and embedded linux 2.4 where we handle various sensor data, localization data and perform local path planning algorithm through object avoidance. The navigation system is implemented and experimented with two-wheeled mobile robot using North star localization system and ultra sonar system.