An experimental analysis of quad wheel autonomous robot location and path planning using Borahsid algorithm with GPS and ZigBee

摘要

This paper presents a hardware system structure and wireless navigation system for both localisation and path navigation of a mobile robot implementing a 32-bit ARM processor (LPC2148 Board) into the design process of a mobile robot integrated with GPS and ZigBee wireless communication device. A novel path-navigation algorithm (Borahsid Algorithm) with less complexity is compared with the existing algorithms adopted for mobile robot realistic work. It utilises GPS localisation as well as ZigBee communication. Existing algorithms have higher accuracy in path following, but are a little slower in processing time. The proposed algorithm has faster processing speeds compared with the existing algorithms because of its lower cost function. MATLAB programming language has been used to simulate the mobile robot localisation and path navigation. The results show the effectiveness of the model and the feasibility of the Borahsid Algorithm (BsA). However, the entire control structure is executed and the experimental results were obtained in a real time system by which experimental results authenticates the performance and steadiness of the implemented control system process.