Automatic Moving of a Robotic Mobile Device Making a Map of a Building

Abstract

This article describes methods of solving problems of automatic navigation of robotized mobile devices inside of a building. A robotized mobile device has tracks and can move back and forth and turn right-hand and left-hand. Micro controller based on Arduino is responsible for receiving and processing of information taken from sensors. Analysis of the data occurs directly onboard of a robotized mobile device using a single-board computer Raspberry Pi or some kind of it. The article shows a method and an algorithm of a robotized mobile device to follow the path and then make a map of a particular building. While moving a robotized mobile device records in memory the data received from sensors. Then it processes the data and forms a map of the building. The relevance of this work is that the most common navigation systems using GPS (Global Positioning System) / GLONASS (GLObal NAvigation Satellite System) don't work in those conditions when a robotized mobile device is located in buildings, such as a room or a building hallway. A satellite signal is lost while going through cemental, metal or wooden constructions. The algorithms presented in the article are based on the properties of the standard deviation values of the distance to objects surrounding a robotized mobile device. The data were obtained through a set of range finders, which was installed onboard of a robotized mobile device, without using a complex and expensive scanning device. Developed algorithms have an advantage, they can work in a building without reference to GPS or GLONASS. The main features of the algorithm are simplicity, low price and accessibility of the used hardware.