An Autonomous Mobile Robot

Aktract-A mobile robot (Fig.1) that autonomously operates in a structuredoffEe orfactory environmentisdevelopped. It uses multiplessensors in order to interact intelligently with its environment, i.e. navigation, localion, environment modeling,.. This paper deals firstly with the onboard navigation system: The trajectory planning algorithm used here is described. This procedure is based on geometrical considerations. It can handle any kind of objects and calculates the trajectory on-line. To avoid collision with unexpected obstacles the mobile robot uses ultrasonore rangefinder for detection and navigation. The obstacle avoidance strategy used for the mobile robot is described. Since the performance of the navigation system depends heavily on the accuracy of the positioning function, we presente in a secondpart three techniques to compensate for sensors errors (i.e., undulations and slopes, load variations, uncertainty in modeling ...) in order to accomplish any long distance travelling without collision and without any external equipment.