期刊名称：International Journal of Innovative Research in Science, Engineering and Technology
印刷版ISSN：2347-6710
电子版ISSN：2319-8753
出版年度：2017
卷号：6
期号：8
页码：16699
DOI：10.15680/IJIRSET.2017.0608132
出版社：S&S Publications
摘要：Autonomous mobile robot is a robot thatcan perform tasks and move aroundin their environment withhigh degree of autonomy without explicit control. The major challenges faced by autonomous mobile robots are handlingdynamic environments, planning the obstacle free path, reducing power consumption and self-localization. This papermainly deals with designing a mobile robot for monitoring indoor environment with autonomous path planning anddynamic environment handling facility. Robot uses two different planners namely global and local planner. Globalplanner plans the global path from the robot’s current position to the target location using A* path planning algorithm.Local planner handles the dynamic environment using dynamic path changing algorithm and obstacle handlingalgorithm. This model of small size autonomous mobile robot can be used for monitoring purposes in indoorenvironment instead of fixed cameras.
关键词：Path planning; Autonomous mobile robot; Global planner; Local planner; Dynamic environment
