Autonomous Navigation of a Mobile Robot in Indoor Environments

  • Bimal Paneru Department of Electronics and Computer Engineering, IOE Pulchowk Campus
  • Niraj Basnet Department of Electronics and Computer Engineering, IOE Pulchowk Campus
  • Sagar Shrestha Department of Electronics and Computer Engineering, IOE Pulchowk Campus
  • Rabin Giri Department of Electronics and Computer Engineering, IOE Pulchowk Campus
  • Dinesh Baniya Kshatri Department of Electronics and Computer Engineering, IOE Pulchowk Campus

Abstract

This paper presents the use of probabilistic algo-
rithms in a differential drive robot for totally autonomous nav-
igation in indoor environment. The robot is capable of building
map of its environment and global localization in the map thus
built. The robot then performs path planning to compute an
optimal path towards the goal location. We make use of LiDAR
for mapping and localization, and a Microsoft Kinect is used in
addition to detect obstacles not falling in the plane of LiDAR.

Published
Dec 19, 2016
How to Cite
PANERU, Bimal et al. Autonomous Navigation of a Mobile Robot in Indoor Environments. Zerone Scholar, [S.l.], v. 1, n. 1, p. 3-8, dec. 2016. ISSN 2542-2774. Available at: <http://zerone.pcampus.edu.np/ojs/index.php/scholar/article/view/2>. Date accessed: 09 dec. 2022.