This paper presents a method for integrating different algorithms for building an autonomous robot. The developed robot has the ability to construct the 2-D map of an unknown environment, localize itself in the map, explore undiscovered area, and path finding. In order to efficiently explore a map, we propose an exploration method. Additionally, improvements of conventional A* algorithm are proposed. Experimental results show that the developed robot is capable of navigating an unknown indoor environment with random obstacles.

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